A method and device for planning a motion trajectory of a motion platform

Abstract

The present application provides a motion trajectory planning method and planning device for a motion platform, including: obtaining characteristic parameters of the second-stage motion trajectory according to the motion speed and related motion constraints of the scene working segment of the second-stage motion trajectory in the motion trajectory; then inferring the end position of the first-stage motion trajectory from the characteristic parameters of the second-stage motion trajectory; and obtaining the characteristic parameters of the first-stage motion trajectory according to the end position and related motion constraints of the first-stage motion trajectory; and then obtaining the characteristic parameter profile of the entire motion trajectory to plan the motion of the motion platform. In this way, the large impact and strong residual vibration generated by the motion platform during high-speed and high-precision motion can be reduced, and the generation of reasonable jerk profile, acceleration profile, acceleration profile, velocity profile and displacement profile when planning the motion trajectory of the motion platform is realized.

Description

Technical Field

[0001] The present application relates to the technical field of sports platforms, and in particular to a method and device for planning a motion trajectory of a sports platform. Background Art

[0002] With the rapid development of industrial automation production, the requirements for the manufacturing accuracy and reliability of motion tables in the industrial infrastructure field are becoming increasingly higher. At the same time, in the actual industrial production process, the motion accuracy of the motion table also plays a vital role in the preparation quality of the product.

[0003] Point-to-point motion trajectory planning is a key and difficult problem for motion platforms, and its motion accuracy determines the working accuracy and performance of the motion platform. At present, the existing motion trajectory planning methods for motion platforms have disadvantages such as low algorithm order, low algorithm accuracy, and difficulty in engineering implementation, which makes the motion platform prone to impact vibration and other phenomena during movement, seriously affecting the accuracy and stability of the motion platform. In addition, the existing motion trajectory planning methods for motion platforms are difficult to meet the trajectory planning requirements of motion platforms in specific industrial production scenarios. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a motion trajectory planning method and planning device for a motion platform, according to the motion speed and related motion constraints of the scene working segment of the second stage motion trajectory in the motion trajectory, the characteristic parameters of the second stage motion trajectory are obtained; then the end position of the first stage motion trajectory is inferred from the characteristic parameters of the second stage motion trajectory; and according to the end position and related motion constraints of the first stage motion trajectory, the characteristic parameters of the first stage motion trajectory are obtained; then, the characteristic parameter profile of the whole motion trajectory is obtained to plan the motion of the motion platform. In this way, the large impact and strong residual vibration generated by the motion platform during high-speed and high-precision motion can be reduced, and the generation of reasonable jerk profile, acceleration profile, acceleration profile, velocity profile and displacement profile when planning the motion trajectory of the motion platform is realized.

[0005] The embodiment of the present application provides a method for planning the motion trajectory of a motion platform, wherein the motion trajectory of the motion platform includes a first-stage motion trajectory and a second-stage motion trajectory, wherein the first-stage motion trajectory includes a first acceleration segment, a first uniform speed segment, and a first deceleration segment, and the second-stage motion trajectory includes a second acceleration segment, a first adjustment segment, a scene working segment, a second adjustment segment, and a second deceleration segment; the motion platform performs uniform motion in the scene working segment to perform a corresponding production task; the planning method includes:

[0006] Establishing motion constraints of the motion trajectory according to the engineering parameters sent by the host computer; the motion constraints include a preset starting position, a preset maximum jerk, a preset maximum jerk and a preset maximum acceleration of the motion trajectory, a starting position, an end position and a working time corresponding to the scene working segment, and an adjustment time corresponding to the first adjustment segment;

[0007] Determine a preset maximum speed of the motion platform for uniform motion in the scene working section according to the starting position, the ending position and the working time corresponding to the scene working section;

[0008] Determine, according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration, a first time during which the motion platform moves at the preset maximum jerk, a second time during which the motion platform moves at the preset maximum jerk, a third time during which the motion platform moves at the preset maximum acceleration and a first actual jerk in the second motion trajectory in the second stage motion trajectory;

[0009] determining an end position of the first motion trajectory according to a starting position corresponding to the scene working segment, the first actual jerk, the first time, the second time, the third time, the adjustment time, and the preset maximum speed;

[0010] Determine, according to the preset starting position of the motion trajectory, the ending position of the first motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration and the preset maximum speed, a fourth time during which the motion platform moves at the preset maximum jerk, a fifth time during which the motion platform moves at the preset maximum jerk, a sixth time during which the motion platform moves at the preset maximum acceleration, a seventh time during which the motion platform moves at the preset maximum speed and a second actual jerk in the first motion trajectory in the first stage motion trajectory;

[0011] determining a jerk profile, a jerk profile, an acceleration profile, a velocity profile, and a displacement profile of the motion trajectory according to the first time, the second time, the third time, the fourth time, the fifth time, the sixth time, the seventh time, the first actual jerk, and the second actual jerk;

[0012] According to the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile, the jerk, the jerk, the acceleration, the velocity and the displacement of the moving stage when moving are planned according to a predetermined servo cycle.

[0013] Further, the determining, according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration, a first time for the motion platform to move at the preset maximum jerk in the second stage motion trajectory, a second time for the motion platform to move at the preset maximum jerk, a third time for the motion platform to move at the preset maximum acceleration and a first actual jerk in the second motion trajectory comprises:

[0014] determining the first time according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, and the preset maximum acceleration;

[0015] determining the second time according to the first time, the preset maximum speed, the preset maximum jerk, and the preset maximum acceleration;

[0016] determining the third time according to the first time, the second time, the preset maximum speed, the preset maximum jerk, and the preset maximum acceleration;

[0017] rounding the first time, the second time and the third time according to the predetermined servo cycle;

[0018] The first actual jerk is determined according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the rounded first time, the second time, and the third time.

[0019] Further, determining the end position of the first motion trajectory according to the starting position corresponding to the scene working segment, the first actual jerk, the first time, the second time, the third time, the adjustment time and the preset maximum speed includes:

[0020] determining, according to the first actual jerk, the first time, the second time, and the third time, a first displacement of the motion platform when the motion speed reaches the preset maximum speed for the first time in the second stage motion trajectory;

[0021] Determining a second displacement corresponding to the first adjustment section according to the preset maximum speed and the adjustment time;

[0022] An end position of the first motion trajectory is determined according to a starting position corresponding to the scene working segment, the first displacement, and the second displacement.

[0023] Further, the determining, according to the preset starting position of the motion trajectory, the end position of the first motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration and the preset maximum speed, a fourth time when the motion platform moves at the preset maximum jerk, a fifth time when the motion platform moves at the preset maximum jerk, a sixth time when the motion platform moves at the preset maximum acceleration, a seventh time when the motion platform moves at the preset maximum speed in the first stage motion trajectory and the second actual jerk in the first motion trajectory comprises:

[0024] determining the fourth time according to a preset starting position of the motion trajectory, an ending position of the first motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the preset maximum speed;

[0025] determining the fifth time according to a preset starting position of the motion trajectory, an end position of the first motion trajectory, the preset maximum jerk, the preset maximum acceleration, the preset maximum speed, and the fourth time;

[0026] determining the sixth time according to a preset starting position of the motion trajectory, an ending position of the first motion trajectory, the preset maximum jerk, the preset maximum speed, the fourth time, and the fifth time;

[0027] determining the seventh time according to a preset starting position of the motion trajectory, an end position of the first motion trajectory, the preset maximum jerk, the preset maximum speed, the fourth time, the fifth time, and the sixth time;

[0028] rounding the fourth time, the fifth time, the sixth time and the seventh time according to the predetermined servo cycle;

[0029] The second actual jerk is determined according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the rounded fourth time, the fifth time, the sixth time, and the seventh time.

[0030] Further, determining a jerk profile, a jerk profile, an acceleration profile, a velocity profile, and a displacement profile of the motion trajectory according to the first time, the second time, the third time, the fourth time, the fifth time, the sixth time, the seventh time, the first actual jerk, and the second actual jerk includes:

[0031] determining a jerk profile of the second-stage motion trajectory according to the first actual jerk, the first time, the second time, the third time, the adjustment time, and the working time;

[0032] determining a jerk profile of the motion trajectory of the first stage according to the second actual jerk, the fourth time, the fifth time, the sixth time, and the seventh time;

[0033] splicing the jerk profile of the first-stage motion trajectory and the jerk profile of the second-stage motion trajectory to obtain the jerk profile of the motion trajectory;

[0034] The jerk profile of the motion trajectory is sequentially integrated by single integration, double integration, triple integration and quadruple integration to obtain the jerk profile, acceleration profile, velocity profile and displacement profile of the motion trajectory.

[0035] Further, according to the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile, the jerk, the jerk, the acceleration, the velocity and the displacement of the motion stage during movement are planned according to a predetermined servo cycle, including:

[0036] constructing a time switching matrix according to the time nodes of the jerk change in the jerk profile;

[0037] Starting from the start of the motion stage, timing is performed according to the predetermined servo cycle;

[0038] When the timing is determined to be at any time node according to the time switching matrix, the jerk, acceleration, velocity and displacement of the motion stage from the time node to the next time node are determined according to the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile;

[0039] The motion stage is controlled according to the jerk, acceleration, velocity and displacement of the motion stage from the time node to the next time node.

[0040] Further, determining the first time according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration includes:

[0041] determining a first value of the first time according to the preset maximum speed and the preset maximum jerk;

[0042] determining a second value of the first time according to the preset maximum jerk and the preset maximum acceleration;

[0043] determining a third value of the first time according to the preset maximum jerk and the preset maximum jerk;

[0044] Compare a first value of the first time, a second value of the first time, and a third value of the first time, and select a minimum value as the first time.

[0045] The embodiment of the present application also provides a motion trajectory planning device for a motion platform, wherein the motion trajectory of the motion platform includes a first-stage motion trajectory and a second-stage motion trajectory, wherein the first-stage motion trajectory includes a first acceleration segment, a first uniform speed segment, and a first deceleration segment, and the second-stage motion trajectory includes a second acceleration segment, a first adjustment segment, a scene working segment, a second adjustment segment, and a second deceleration segment; the motion platform performs uniform motion in the scene working segment to perform a corresponding production task; the planning device includes:

[0046] An establishment module is used to establish motion constraints of the motion trajectory according to the engineering parameters sent by the host computer; the motion constraints include a preset starting position, a preset maximum jerk, a preset maximum jerk and a preset maximum acceleration of the motion trajectory, a starting position, an end position and a working time corresponding to the scene working segment, and an adjustment time corresponding to the first adjustment segment;

[0047] A first determination module is used to determine a preset maximum speed of the motion platform for uniform motion in the scene working section according to a starting position, an ending position and a working time corresponding to the scene working section;

[0048] a second determining module, configured to determine, according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, and the preset maximum acceleration, a first time during which the motion platform moves at the preset maximum jerk, a second time during which the motion platform moves at the preset maximum jerk, a third time during which the motion platform moves at the preset maximum acceleration, and a first actual jerk in the second motion trajectory in the second stage motion trajectory;

[0049] a third determining module, configured to determine an end position of the first motion trajectory according to a starting position corresponding to the scene working segment, the first actual jerk, the first time, the second time, the third time, the adjustment time, and the preset maximum speed;

[0050] a fourth determining module, configured to determine, according to a preset starting position of the motion trajectory, an end position of the first motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the preset maximum speed, a fourth time during which the motion platform moves at the preset maximum jerk, a fifth time during which the motion platform moves at the preset maximum jerk, a sixth time during which the motion platform moves at the preset maximum acceleration, a seventh time during which the motion platform moves at the preset maximum speed, and a second actual jerk in the first motion trajectory;

[0051] a fifth determining module, configured to determine a jerk profile, a jerk profile, an acceleration profile, a velocity profile, and a displacement profile of the motion trajectory according to the first time, the second time, the third time, the fourth time, the fifth time, the sixth time, the seventh time, the first actual jerk, and the second actual jerk;

[0052] A planning module is used to plan the jerk, jerk, acceleration, velocity and displacement of the motion platform during movement according to a predetermined servo cycle based on the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile.

[0053] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the planning method described above are performed.

[0054] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the planning method described above are executed.

[0055] The embodiment of the present application provides a motion trajectory planning method and planning device for a motion platform. According to the motion speed and related motion constraints of the scene working segment of the second-stage motion trajectory in the motion trajectory, characteristic parameters of the second-stage motion trajectory are obtained; the end position of the first-stage motion trajectory is then inferred from the characteristic parameters of the second-stage motion trajectory; and according to the end position and related motion constraints of the first-stage motion trajectory, characteristic parameters of the first-stage motion trajectory are obtained; and then, the characteristic parameter profile of the entire motion trajectory is obtained to plan the motion of the motion platform. In this way, the large impact and strong residual vibration generated by the motion platform during high-speed and high-precision motion can be reduced, and the generation of reasonable jerk profile, acceleration profile, acceleration profile, velocity profile and displacement profile when planning the motion trajectory of the motion platform is realized.

[0056] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0058] Figure 1 A schematic diagram showing the movement process of a sports platform provided in an embodiment of the present application;

[0059] Figure 2 A flow chart showing a method for planning a motion trajectory of a motion platform provided in an embodiment of the present application is shown;

[0060] Figure 3 A schematic diagram of the profile of the jerk in the second stage motion trajectory provided by an embodiment of the present application is shown;

[0061] Figure 4 A schematic diagram of the profile of the jerk in the first stage motion trajectory provided by an embodiment of the present application is shown;

[0062] 5(a) to (e) are schematic diagrams showing a jerk profile, a jerk profile, an acceleration profile, a velocity profile and a displacement profile of a motion trajectory of a motion platform provided in an embodiment of the present application;

[0063] Figure 6 A schematic diagram showing the structure of a motion trajectory planning device for a motion platform provided in an embodiment of the present application is shown;

[0064] Figure 7 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0065] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0066] Research has found that point-to-point motion trajectory planning is a key and difficult problem for motion platforms, and its motion accuracy determines the working accuracy and performance of the motion platform. At present, the existing motion trajectory planning methods for motion platforms have disadvantages such as low algorithm order, low algorithm accuracy, and difficulty in engineering implementation, which makes the motion platform prone to impact vibration and other phenomena during movement, seriously affecting the accuracy and stability of the motion platform. In addition, the existing motion trajectory planning methods for motion platforms are difficult to meet the trajectory planning requirements of motion platforms in specific industrial production scenarios.

[0067] Based on this, the embodiment of the present application provides a motion trajectory planning method and planning device for a motion platform, which obtains the characteristic parameters of the second-stage motion trajectory according to the motion speed and related motion constraints of the scene working segment of the second-stage motion trajectory in the motion trajectory; then infers the end position of the first-stage motion trajectory from the characteristic parameters of the second-stage motion trajectory; and obtains the characteristic parameters of the first-stage motion trajectory according to the end position and related motion constraints of the first-stage motion trajectory; and then obtains the characteristic parameter profile of the entire motion trajectory to plan the motion of the motion platform. In this way, the large impact and strong residual vibration generated by the motion platform during high-speed and high-precision motion can be reduced, and the generation of reasonable jerk profile, acceleration profile, acceleration profile, velocity profile and displacement profile when planning the motion trajectory of the motion platform is realized.

[0068] See also Figure 1 , Figure 1 Schematic diagram of the motion process of a motion platform provided in an embodiment of the present application. Figure 1As shown, in a specific industrial production scenario, the motion process of the motion platform from one point to another is divided into motion stage 1 and motion stage 2; the motion platform can first accelerate in motion stage 1, maintain a constant speed for a period of time after accelerating to a preset maximum speed, and then decelerate; in some cases, the time determined that the motion platform maintains a constant speed in motion stage 1 can be 0, at this time, the motion platform first accelerates and then decelerates in motion stage 1; the motion platform first accelerates in the acceleration section in motion stage 2, and when the speed reaches the preset maximum speed, the speed is stabilized through adjustment stage 1, and then uniform motion is performed in the scene working section to perform the corresponding production task, for example, to process the target object, and then the speed is gradually reduced through adjustment stage 2 and deceleration stage. For the trajectory planning of the motion platform, the focus in motion stages 1 and 2 is on the accuracy of the target position and the predictability of time during the trajectory planning process; in motion stage 2, the speed stability of the constant speed section should also be paid attention to.

[0069] Therefore, the motion trajectory of the motion platform includes the first-stage motion trajectory and the second-stage motion trajectory, wherein the first-stage motion trajectory includes the first acceleration section, the first uniform speed section and the first deceleration section, and the second-stage motion trajectory includes the second acceleration section, the first adjustment section, the scene working section, the second adjustment section and the second deceleration section; the motion platform moves at a uniform speed in the scene working section to perform corresponding production tasks. Among them, the requirements of the motion platform on the measurement system and the control system in the scene working section are the most stringent, and the system must be guaranteed to have nanometer-level positioning accuracy; the first adjustment section requires the motion speed of the motion platform to quickly reach a stable state. The acceleration stage and the deceleration stage require that the characteristic parameters of the jerk, jerk and acceleration of the motion trajectory of the motion platform be as large as possible, thereby shortening the time of the acceleration and deceleration sections, and thus improving the yield.

[0070] See also Figure 2 , Figure 2 Flow chart of a method for planning a motion trajectory of a motion platform provided in an embodiment of the present application. Figure 2 As shown in , the planning method provided by the embodiment of the present application includes:

[0071] S101, establishing motion constraints of the motion trajectory according to the engineering parameters sent by the host computer.

[0072] The motion constraints include a preset starting position P0 of the motion trajectory, a preset maximum jerk d max , preset maximum jerk j max and preset maximum acceleration a max , the starting position P2, the ending position P3 and the working time t corresponding to the scene working segment e And the adjustment time t corresponding to the first adjustment section sIn a specific implementation, a coordinate system may be established to determine the starting position P0 of the motion trajectory, the starting position P2 and the ending position P3 corresponding to the scene working segment.

[0073] Here, the preset maximum jerk refers to the preset upper jerk threshold value during the entire motion trajectory, that is, the jerk of the motion platform during the entire motion trajectory shall not exceed the preset maximum jerk d max ; Accordingly, during the entire motion trajectory, the acceleration of the motion platform shall not exceed the preset maximum jerk j max , its acceleration shall not exceed the preset maximum acceleration a max , its speed shall not exceed the preset maximum speed.

[0074] S102: Determine a preset maximum speed of the motion platform for uniform motion in the scene working section according to the starting position, ending position and working time corresponding to the scene working section.

[0075] In this step, because the motion platform moves at a uniform speed in the scene working section, the motion speed of the motion platform in the scene working section is Similarly, the motion platform's speed must not exceed the preset maximum speed v during the entire motion trajectory. m .

[0076] S103, determining, according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration, a first time that the motion platform moves at the preset maximum jerk in the second stage motion trajectory, a second time that the motion platform moves at the preset maximum jerk, a third time that the motion platform moves at the preset maximum acceleration and a first actual jerk in the second motion trajectory.

[0077] In a possible implementation, step S103 includes:

[0078] S1031. Determine the first time according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, and the preset maximum acceleration.

[0079] In a possible implementation, step S1031 includes:

[0080] Step 1: Determine a first value of the first time according to the preset maximum speed and the preset maximum jerk.

[0081] Step 2: Determine a second value of the first time according to the preset maximum jerk and the preset maximum acceleration.

[0082] Step 3: Determine a third value of the first time according to the preset maximum jerk and the preset maximum jerk.

[0083] Step 4: Compare the first value of the first time, the second value of the first time, and the third value of the first time, and select the minimum value as the first time.

[0084] For specific implementation, please refer to Figure 3 , Figure 3 The following is a schematic diagram of the jerk profile in the second stage motion trajectory provided by an embodiment of the present application. The jerk profile is used to implement a third-order velocity trajectory planning algorithm, that is, the velocity profile can be obtained by three integrations of the jerk profile. Figure 4 As shown, the jerk profile is symmetrically distributed and is mainly determined by three characteristic parameters, namely, three characteristic times: the first time t when the motion platform moves at the preset maximum jerk s_d , a second time t of moving at the preset maximum acceleration s_j , a third time t of moving at the preset maximum acceleration s_a .

[0085] Without considering the jerk and acceleration limit, and only considering the jerk limit, combined with Figure 3 It can be seen that at this time, t s_j =t s_a =0,t all =4t s_d , t2=t1=t d , t3 = t4, then the expressions of jerk, acceleration and velocity are:

[0086] j(t)=d0t+j0

[0087]

[0088]

[0089] In the formula, d0, j0, a0, and v0 are the jerk value, acceleration value, acceleration value, and velocity value at time t0, respectively. Combined with engineering practice, it can be known that at the initial time t0, j0 = 0, a0 = 0, and v0 = 0. When the velocity reaches the maximum value (i.e., time t4), d = -d max ,but

[0090] j(t4)=j(t3)=0

[0091]

[0092]

[0093] From the symmetry of the velocity trajectory profile, we can know that:

[0094]

[0095] At this time, according to the preset maximum speed and the preset maximum jerk, a first value of the first time is derived:

[0096]

[0097] When considering the acceleration limit, Figure 4 It can be seen that the maximum acceleration occurs at time t3, that is, from t s_d1 The maximum acceleration is determined to be if Then t s_d1 Meet the maximum acceleration limit requirements, otherwise you need to recalculate t s_d , let a(t3)=a max , a second value of the first time may be derived according to the preset maximum jerk and the preset maximum acceleration:

[0098]

[0099] When considering the acceleration limit, Figure 4 It can be seen that the maximum jerk occurs at time t1, that is, from t s_d The maximum jerk determined is if Then t s_d Meet the maximum jerk limit requirements, otherwise you need to recalculate t s_d , let j(t1)=j max , a third value of the first time may be derived according to the preset maximum jerk and the preset maximum jerk:

[0100]

[0101] Compare the first value t of the first time s_d1 , the second value t of the first time s_d2 and the third value t of the first time s_d3 , select the minimum value as the first time t s_d .

[0102] S1032. Determine the second time according to the first time, the preset maximum speed, the preset maximum jerk, and the preset maximum acceleration.

[0103] Please continue to refer to Figure 3 , in determining the first time t s_dWithout considering the acceleration limit, the second time (t s_j >0). At this time, at time t3, the expressions of jerk, acceleration and velocity are:

[0104] j(t3)=0

[0105]

[0106]

[0107] And because t3=t4, we have:

[0108]

[0109] From this, it is deduced that the given preset maximum speed v m The second time t s_j The first value t s_j1 :

[0110]

[0111] Furthermore, when considering acceleration limits, continue to refer to Figure 3 , the maximum acceleration occurs at time t3, that is, s_d and t s_j The acceleration determined is:

[0112]

[0113] if Then t s_j Meet the maximum acceleration limit requirements, otherwise you need to recalculate t s_j , let a(t3)=a max , the second time t can be deduced s_j The second value t s_j2 :

[0114]

[0115] Compare the first value t of the second time s_j1 and the second value t of the second time s_j2 , select the minimum value as the first time t s_j .

[0116] S1033. Determine the second time according to the first time, the second time, the preset maximum speed, the preset maximum jerk, and the preset maximum acceleration.

[0117] In determining the first time t s_d and the second time ts_j Based on this, assume that there exists the second time t s_a , that is, (t3 < t4), and the following relational expression can be deduced from the velocity symmetry relationship:

[0118] v(t7) - 2v(t3) = v(t4) - v(t3)

[0119] From this, the third time t of moving at the preset maximum acceleration can be deduced s_a :

[0120]

[0121] S1034. Round the first time, the second time, and the third time according to the predetermined servo cycle.

[0122] It should be noted that in practical applications, the motion trajectory of the moving table is usually planned and controlled by a discrete digital controller, and the discrete digital controller has a certain servo cycle (sampling cycle). Therefore, it is necessary to round up the first time, the second time, and the third time to an integer multiple of the predetermined servo cycle.

[0123] S1035. Determine the first actual jerk according to the preset maximum speed, the preset maximum jerk, the preset maximum snap, the preset maximum acceleration, and the rounded first time, second time, and third time.

[0124] In this step, substitute the rounded first time, second time, and third time into the formulas for determining the first time, second time, and third time above, and multiple jerk limit values can be determined. Select the smallest jerk value as the first actual jerk.

[0125] Here, after determining the first time, the second time, the third time, and the first actual jerk, according to the adjustment time t s and the working time t e corresponding to the first adjustment segment, and combined with the symmetry of the jerk profile, adding them together can obtain the time t s_v when the workbench moves at a constant speed in the motion trajectory of the second stage (wherein, the workbench moves at a constant speed during the adjustment stage); furthermore, according to the first time, the second time, the third time, the time when the workbench moves at a constant speed in the motion trajectory of the second stage, and the first actual jerk, combined with the symmetry of the jerk profile, the jerk profile of the entire motion trajectory of the second stage can be obtained.

[0126] S104. Determine an end position of the first motion trajectory according to a starting position corresponding to the scene working segment, the first actual jerk, the first time, the second time, the third time, the adjustment time, and the preset maximum speed.

[0127] In a possible implementation, step S104 includes:

[0128] S1041. Determine, according to the first actual jerk, the first time, the second time, and the third time, a first displacement of the motion platform when the motion speed reaches the preset maximum speed for the first time in the second stage motion trajectory.

[0129] Continue to refer to Figure 3 In this step, according to the first actual jerk d max , the first time t s_d The second time t s_j and the third time t s_a , the first displacement corresponding to when the motion speed in the second stage motion trajectory reaches the preset maximum speed for the first time (i.e., time t7) can be derived:

[0130]

[0131] S1042: Determine a second displacement corresponding to the first adjustment section according to the preset maximum speed and the adjustment time.

[0132] In this step, the maximum speed v m and the adjustment time t s , determine the second displacement P corresponding to the first adjustment section s :

[0133] P s =v m ×t s

[0134] S1043: Determine an end position of the first motion trajectory according to the starting position corresponding to the scene working segment, the first displacement, and the second displacement.

[0135] In this step, combine Figure 1 It can be deduced that the end position P1 of the first motion trajectory is:

[0136] P1=P2-P s -P(t7)=P2-v m ×t s -P(t7)

[0137] S105. Determine, based on the preset starting position of the motion trajectory, the end position of the first motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration and the preset maximum speed, a fourth time when the motion platform moves at the preset maximum jerk, a fifth time when the motion platform moves at the preset maximum jerk, a sixth time when the motion platform moves at the preset maximum acceleration, a seventh time when the motion platform moves at the preset maximum speed in the first stage motion trajectory, and a second actual jerk in the first motion trajectory.

[0138] In a possible implementation, step S105 includes:

[0139] S1051. Determine the fourth time according to the preset starting position of the motion trajectory, the ending position of the first motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the preset maximum speed.

[0140] For specific implementation, please refer to Figure 4 , Figure 4 A schematic diagram of a jerk profile in a first-stage motion trajectory provided by an embodiment of the present application. The jerk profile is used to implement a fourth-order displacement trajectory planning algorithm, that is, the displacement profile can be obtained by the fourth-order integration of the jerk profile. As shown in FIG5 , the jerk profile is symmetrically distributed and is mainly determined by four characteristic times: the fourth time t when the motion platform moves at the preset maximum jerk f_d , a fifth time t of moving at the preset maximum acceleration f_j , the sixth time t of moving at the preset maximum acceleration f_a , the seventh time t of moving at the preset maximum speed f_v .

[0141] When jerk, acceleration and speed limits are not considered and only jerk limit is considered, it can be seen from Figure 5 that at this time, t f_j =t f_a =t f_v =0,t f_all =8t f_d , the expressions for jerk, acceleration, velocity and displacement are:

[0142] j(t)=d f_0 t+j f_0

[0143]

[0144]

[0145]

[0146] Where, d f_0 、j f_0 、a f_0 、v f_0 They are the jerk value, jerk value, acceleration value and velocity value at time t0 respectively. Combined with the actual project, we know that at the initial time t0, j f_0 =0,a f_0 =0, v f_0 = 0. At time t8, d = -d max ,but:

[0147] j(t8)=j(t7)=0

[0148] a(t8)=a(t7)=0

[0149]

[0150]

[0151] Due to the symmetry of the displacement trajectory profile, it can be seen that:

[0152]

[0153] At this time, the fourth time t can be derived f_d The first value t f_d1 :

[0154]

[0155] When considering the speed limit, combined with the above formula, it can be seen that the maximum speed occurs at time t7, that is, from t f_d1 Determined maximum speed if Then t f_d1 Meet the maximum speed limit requirements, otherwise you need to recalculate t f_d , let v(t7)=v m , the fourth time t can be derived f_d The second value t f_d2 :

[0156]

[0157] When considering the acceleration limit, t f_d Determine the maximum jerk if Then t f_d Meet the maximum acceleration limit requirements, otherwise you need to recalculate t f_d , let a(t3)=a max , the fourth time t can be derivedf_d The third value t f_d3 :

[0158]

[0159] When considering the jerk limit, t f_d Determine the maximum jerk if Then t f_d Meet the maximum jerk limit requirements, otherwise you need to recalculate t f_d , let j(t1)=j max , the fourth time t can be derived f_d The fourth value t f_d4 :

[0160]

[0161] Compare the first value t of the fourth time f_d1 , the second value t of the fourth time f_d2 , the third value t of the fourth time f_d3 and the fourth time t f_d The fourth value t f_d4 , select the minimum value as the fourth time t f_d .

[0162] S1052: Determine the fifth time according to the preset starting position of the motion trajectory, the ending position of the first motion trajectory, the preset maximum jerk, the preset maximum acceleration, the preset maximum speed, and the fourth time.

[0163] Please continue to refer to Figure 4 , in determining the fourth time t f_d Without considering the speed and acceleration limits, it is assumed that there is a constant acceleration period (t f_a >0). At this time, at time t7, the expressions of jerk, acceleration, velocity and displacement are:

[0164] j(t7)=0

[0165] a(t7)=0

[0166]

[0167]

[0168] And because t7=t8, we have x(t 15 )=2x(t7), then:

[0169]

[0170] Therefore, it can be deduced that the given displacement boundary x f = the fifth time t of P1-P0 f_j The first value t f_j1 :

[0171]

[0172] Furthermore, when considering the speed limit, t f_d and t f_j The speed is determined as:

[0173]

[0174] if Then t f_j1 Meet the speed limit requirements, otherwise you need to recalculate t f_j , let v(t7)=v m , the fifth time t can be deduced f_j The second value t f_j2 :

[0175]

[0176] Furthermore, when considering the acceleration limit, t f_d and t f_j Determine the maximum jerk if Then t f_j Meet the acceleration limit requirements, otherwise you need to recalculate t f_j , let a(t3)=a max , the fifth time t can be deduced f_j The third value t f_j3 :

[0177]

[0178] Compare the fifth time t f_j The first value t f_j1 , the fifth time t f_j The second value t f_j2 and the fifth time t f_j The third value t f_j3 , select the minimum value as the fifth time t f_j .

[0179] S1053: Determine the sixth time according to the preset starting position of the motion trajectory, the ending position of the first motion trajectory, the preset maximum jerk, the preset maximum speed, the fourth time, and the fifth time.

[0180] In determining the fourth time t f_d , the fifth time t f_j Without considering the speed limit, it is assumed that there is a sixth time t f_a , at this time, at time t7, the expressions of jerk, acceleration, velocity and displacement are:

[0181] j(t7)=0

[0182]

[0183]

[0184]

[0185] And because x(t 15 )=2x(t7), then:

[0186]

[0187] Take the above about t f_a The positive solution of the linear equation of two variables t f_a1 , from which we can deduce that the given displacement boundary x f The sixth time t f_a The first value t f_a1 .

[0188] When considering the speed limit, t f_d ,t f_j and t f_a The maximum speed is determined at time t7. when When t f_a1 Meet the speed limit requirements, otherwise you need to recalculate t f_a , let v(t7)=v m , the sixth time t can be deduced f_a The second value t f_a2 :

[0189]

[0190] Compare the sixth time t f_a The first value t f_a1 and the sixth time t f_a The second value t f_a2 , select the minimum value as the sixth time tf_a .

[0191] S1054: Determine the seventh time according to the preset starting position of the motion trajectory, the ending position of the first motion trajectory, the preset maximum jerk, the preset maximum speed, the fourth time, the fourth time, and the sixth time.

[0192] In determining the fourth time t f_d , the fifth time t f_j , the sixth time t f_a On the basis, it is assumed that there is a seventh time (i.e., constant speed time period) t f_v , that is, there exists x f -2x(t7)=x(t4)-x(t3), then the seventh time t can be derived f_v :

[0193]

[0194] S1055. Round the fourth time, the fifth time, the sixth time, and the seventh time according to the predetermined servo cycle.

[0195] S1056. Determine the second actual jerk according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration, and the rounded fourth time, the fifth time, the sixth time and the seventh time.

[0196] S106. Determine a jerk profile, a jerk profile, an acceleration profile, a velocity profile, and a displacement profile of the motion trajectory according to the first time, the second time, the third time, the fourth time, the fifth time, the sixth time, the seventh time, the first actual jerk, and the second actual jerk.

[0197] In a possible implementation, step S106 includes:

[0198] S1061. Determine a jerk profile of the second-stage motion trajectory according to the first actual jerk, the first time, the second time, the third time, the adjustment time, and the working time.

[0199] S1062: Determine a jerk profile of the motion trajectory of the first stage according to the second actual jerk, the fourth time, the fifth time, the sixth time, and the seventh time.

[0200] S1063: Join the jerk profile of the first-stage motion trajectory and the jerk profile of the second-stage motion trajectory to obtain a jerk profile of the motion trajectory.

[0201] S1064. Perform single integration, double integration, triple integration, and quadruple integration on the jerk profile of the motion trajectory in sequence to obtain a jerk profile, an acceleration profile, a velocity profile, and a displacement profile of the motion trajectory.

[0202] Specifically, by performing a single integration on the jerk profile of the motion trajectory, the jerk profile of the motion trajectory can be obtained; by performing a double integration on the jerk profile of the motion trajectory, the acceleration profile of the motion trajectory can be obtained; by performing a triple integration on the jerk profile of the motion trajectory, the velocity profile of the motion trajectory can be obtained; by performing a quadruple integration on the jerk profile of the motion trajectory, the displacement profile of the motion trajectory can be obtained.

[0203] Please refer to Figures 5(a) to (e), which are schematic diagrams of a jerk profile, a jerk profile, an acceleration profile, a velocity profile and a displacement profile of a motion trajectory of a motion platform provided in an embodiment of the present application.

[0204] S107. According to the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile, the jerk, jerk, acceleration, velocity and displacement of the motion platform during movement are planned according to a predetermined servo cycle.

[0205] In a possible implementation, step S107 includes:

[0206] S1071. Construct a time switching matrix according to the time nodes of the jerk change in the jerk profile.

[0207] In a specific implementation, referring to FIG. 5( a ), according to the time nodes of the jerk change in the jerk profile, the first time switching matrix T corresponding to the first stage motion trajectory can be constructed. f The second time switching matrix T corresponding to the second stage motion trajectory s ; Among them, the first time switching matrix T f The four values ​​in each column represent t f_d ,t f_j ,t f_a and t f_v Corresponding coefficients; Second time switching matrix T s The four values ​​in each column represent t s_d ,t s_j ,ts_a and t s_v The corresponding coefficient.

[0208]

[0209]

[0210] According to the first time switching matrix T corresponding to the first stage motion trajectory f The second time switching matrix T corresponding to the second stage motion trajectory s , we can get the time switching matrix T corresponding to the motion trajectory of the motion platform f_s In the above steps, the first time, the second time, the third time, the fourth time, the fifth time, the sixth time, the seventh time and the time t at which the workbench moves at a constant speed in the second stage motion trajectory are determined according to the adjustment time and the working time. s_v Then, combined with the time switching matrix T f_s , the actual moment of the jerk change in the jerk profile can be determined.

[0211]

[0212] S1072. Starting from the start of movement of the moving platform, timing is performed according to the predetermined servo cycle.

[0213] S1073. When the timing is determined to be at any time node according to the time switching matrix, the jerk, jerk, acceleration, velocity and displacement of the motion platform from the time node to the next time node are determined according to the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile.

[0214] S1074. Control the motion platform according to the jerk, acceleration, acceleration, velocity and displacement of the motion platform from the time node to the next time node.

[0215] In a specific implementation, timing is performed from the start moment when the motion table starts to move. When the timing reaches any time node according to the time switching matrix, the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile are used to determine the jerk, jerk, acceleration, velocity and displacement of the motion table from the time node to the next time node, so as to control the motion table and plan the motion trajectory of the motion table.

[0216] The embodiment of the present application provides a method for planning the motion trajectory of a motion platform. According to the motion speed of the scene working segment of the second-stage motion trajectory in the motion trajectory and the related motion constraints, the characteristic parameters of the second-stage motion trajectory are obtained; then the end position of the first-stage motion trajectory is inferred from the characteristic parameters of the second-stage motion trajectory; and according to the end position of the first-stage motion trajectory and the related motion constraints, the characteristic parameters of the first-stage motion trajectory are obtained; and then, the characteristic parameter profile of the entire motion trajectory is obtained to plan the motion of the motion platform. In this way, the large impact and strong residual vibration generated by the motion platform during high-speed and high-precision motion can be reduced, and the generation of reasonable jerk profile, acceleration profile, acceleration profile, velocity profile and displacement profile when planning the motion trajectory of the motion platform is realized.

[0217] See also Figure 6 , Figure 6 A schematic diagram of a motion trajectory planning device for a motion platform provided in an embodiment of the present application. The motion trajectory of the motion platform includes a first-stage motion trajectory and a second-stage motion trajectory, wherein the first-stage motion trajectory includes a first acceleration segment, a first uniform speed segment, and a first deceleration segment, and the second-stage motion trajectory includes a second acceleration segment, a first adjustment segment, a scene working segment, a second adjustment segment, and a second deceleration segment; the motion platform performs uniform motion in the scene working segment to perform corresponding production tasks; Figure 6 As shown in , the planning device 600 includes:

[0218] Establishing module 610, used to establish motion constraints of the motion trajectory according to the engineering parameters sent by the host computer; the motion constraints include a preset starting position, a preset maximum jerk, a preset maximum jerk and a preset maximum acceleration of the motion trajectory, a starting position, an end position and a working time corresponding to the scene working segment, and an adjustment time corresponding to the first adjustment segment;

[0219] A first determination module 620 is used to determine a preset maximum speed of the motion platform for uniform motion in the scene working section according to the starting position, the ending position and the working time corresponding to the scene working section;

[0220] A second determining module 630 is used to determine, according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration, a first time that the motion platform moves at the preset maximum jerk in the second stage motion trajectory, a second time that the motion platform moves at the preset maximum jerk, a third time that the motion platform moves at the preset maximum acceleration and a first actual jerk in the second motion trajectory;

[0221] A third determination module 640 is used to determine an end position of the first motion trajectory according to the starting position corresponding to the scene working segment, the first actual jerk, the first time, the second time, the third time, the adjustment time and the preset maximum speed;

[0222] a fourth determining module 650, configured to determine, according to the preset starting position of the motion trajectory, the end position of the first motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the preset maximum speed, a fourth time during which the motion platform moves at the preset maximum jerk, a fifth time during which the motion platform moves at the preset maximum jerk, a sixth time during which the motion platform moves at the preset maximum acceleration, a seventh time during which the motion platform moves at the preset maximum speed, and a second actual jerk in the first motion trajectory in the first stage motion trajectory;

[0223] a fifth determining module 660, configured to determine a jerk profile, a jerk profile, an acceleration profile, a velocity profile, and a displacement profile of the motion trajectory according to the first time, the second time, the third time, the fourth time, the fifth time, the sixth time, the seventh time, the first actual jerk, and the second actual jerk;

[0224] The planning module 670 is used to plan the jerk, jerk, acceleration, velocity and displacement of the motion platform during movement according to the jerk profile, the acceleration profile, the acceleration profile, the velocity profile and the displacement profile in a predetermined servo cycle.

[0225] Further, when the second determination module 630 is used to determine, according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration, a first time for the motion platform to move at the preset maximum jerk in the second stage motion trajectory, a second time for the motion platform to move at the preset maximum jerk, a third time for the motion platform to move at the preset maximum acceleration and a first actual jerk in the second motion trajectory, the second determination module 630 is used to:

[0226] determining the first time according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, and the preset maximum acceleration;

[0227] determining the second time according to the first time, the preset maximum speed, the preset maximum jerk, and the preset maximum acceleration;

[0228] determining the third time according to the first time, the second time, the preset maximum speed, the preset maximum jerk, and the preset maximum acceleration;

[0229] rounding the first time, the second time and the third time according to the predetermined servo cycle;

[0230] The first actual jerk is determined according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the rounded first time, the second time, and the third time.

[0231] Further, when the third determination module 640 is used to determine the end position of the first motion trajectory according to the starting position corresponding to the scene working segment, the first actual jerk, the first time, the second time, the third time, the adjustment time and the preset maximum speed, the third determination module 640 is used to:

[0232] determining, according to the first actual jerk, the first time, the second time, and the third time, a first displacement of the motion platform when the motion speed reaches the preset maximum speed for the first time in the second stage motion trajectory;

[0233] Determining a second displacement corresponding to the first adjustment section according to the preset maximum speed and the adjustment time;

[0234] An end position of the first motion trajectory is determined according to a starting position corresponding to the scene working segment, the first displacement, and the second displacement.

[0235] Further, when the fourth determination module 650 is used to determine, according to the preset starting position of the motion trajectory, the end position of the first motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration and the preset maximum speed, the fourth time when the motion platform moves at the preset maximum jerk in the first stage motion trajectory, the fifth time when the motion platform moves at the preset maximum jerk, the sixth time when the motion platform moves at the preset maximum acceleration, the seventh time when the motion platform moves at the preset maximum speed, and the second actual jerk in the first motion trajectory, the fourth determination module 650 is used to:

[0236] determining the fourth time according to a preset starting position of the motion trajectory, an ending position of the first motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the preset maximum speed;

[0237] determining the fifth time according to a preset starting position of the motion trajectory, an end position of the first motion trajectory, the preset maximum jerk, the preset maximum acceleration, the preset maximum speed, and the fourth time;

[0238] determining the sixth time according to a preset starting position of the motion trajectory, an ending position of the first motion trajectory, the preset maximum jerk, the preset maximum speed, the fourth time, and the fifth time;

[0239] determining the seventh time according to a preset starting position of the motion trajectory, an end position of the first motion trajectory, the preset maximum jerk, the preset maximum speed, the fourth time, the fifth time, and the sixth time;

[0240] rounding the fourth time, the fifth time, the sixth time and the seventh time according to the predetermined servo cycle;

[0241] The second actual jerk is determined according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the rounded fourth time, the fifth time, the sixth time, and the seventh time.

[0242] Further, when the fifth determining module 660 is used to determine the jerk profile, the jerk profile, the acceleration profile, the velocity profile, and the displacement profile of the motion trajectory according to the first time, the second time, the third time, the fourth time, the fifth time, the sixth time, the seventh time, the first actual jerk, and the second actual jerk, the fifth determining module 660 is used to:

[0243] determining a jerk profile of the second-stage motion trajectory according to the first actual jerk, the first time, the second time, the third time, the adjustment time, and the working time;

[0244] determining a jerk profile of the motion trajectory of the first stage according to the second actual jerk, the fourth time, the fifth time, the sixth time, and the seventh time;

[0245] splicing the jerk profile of the first-stage motion trajectory and the jerk profile of the second-stage motion trajectory to obtain the jerk profile of the motion trajectory;

[0246] The jerk profile of the motion trajectory is sequentially integrated by single integration, double integration, triple integration and quadruple integration to obtain the jerk profile, acceleration profile, velocity profile and displacement profile of the motion trajectory.

[0247] Further, when the planning module 670 is used to plan the jerk, jerk, acceleration, velocity and displacement of the motion stage according to the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile according to a predetermined servo cycle, the planning module 670 is used to:

[0248] constructing a time switching matrix according to the time nodes of the jerk change in the jerk profile;

[0249] Starting from the start of the motion stage, timing is performed according to the predetermined servo cycle;

[0250] When the timing is determined to be at any time node according to the time switching matrix, the jerk, acceleration, velocity and displacement of the motion stage from the time node to the next time node are determined according to the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile;

[0251] The motion stage is controlled according to the jerk, acceleration, velocity and displacement of the motion stage from the time node to the next time node.

[0252] Further, when the second determining module 630 is used to determine the first time according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration, the second determining module 630 is used to:

[0253] determining a first value of the first time according to the preset maximum speed and the preset maximum jerk;

[0254] determining a second value of the first time according to the preset maximum jerk and the preset maximum acceleration;

[0255] determining a third value of the first time according to the preset maximum jerk and the preset maximum jerk;

[0256] Compare a first value of the first time, a second value of the first time, and a third value of the first time, and select a minimum value as the first time.

[0257] See also Figure 7 , Figure 7This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7 As shown in , the electronic device 700 includes a processor 710 , a memory 720 and a bus 730 .

[0258] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 is running, the processor 710 communicates with the memory 720 via the bus 730. When the machine-readable instructions are executed by the processor 710, the above-mentioned Figure 1 As for the steps of the planning method in the method embodiment shown in FIG5 , the specific implementation manner can be referred to the method embodiment, which will not be described in detail here.

[0259] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 As for the steps of the planning method in the method embodiment shown in FIG5 , the specific implementation manner can be referred to the method embodiment, which will not be described in detail here.

[0260] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0261] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0262] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0263] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0264] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0265] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for planning a motion trajectory of a motion platform, characterized in that: The motion trajectory of the motion platform includes a first-stage motion trajectory and a second-stage motion trajectory, wherein the first-stage motion trajectory includes a first acceleration segment, a first uniform speed segment, and a first deceleration segment, and the second-stage motion trajectory includes a second acceleration segment, a first adjustment segment, a scene working segment, a second adjustment segment, and a second deceleration segment; The motion platform moves at a uniform speed in the scene working section to perform the corresponding production task; the planning method includes: Establishing motion constraints of the motion trajectory according to the engineering parameters sent by the host computer; the motion constraints include a preset starting position of the motion trajectory, a preset maximum jerk, a preset maximum jerk and a preset maximum acceleration in the motion trajectory, a starting position, an ending position and a working time corresponding to the scene working segment, and an adjustment time corresponding to the first adjustment segment; Determine a preset maximum speed of the motion platform for uniform motion in the scene working section according to the starting position, the ending position and the working time corresponding to the scene working section; Determine, according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration, a first time during which the motion platform moves at the preset maximum jerk, a second time during which the motion platform moves at the preset maximum jerk, a third time during which the motion platform moves at the preset maximum acceleration and a first actual jerk in the motion trajectory of the second stage; determining an end position of the first stage motion trajectory according to a starting position corresponding to the scene working segment, the first actual jerk, the first time, the second time, the third time, the adjustment time, and the preset maximum speed; Determine, according to the preset starting position of the motion trajectory, the ending position of the first stage motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration and the preset maximum speed, a fourth time during which the motion platform moves at the preset maximum jerk, a fifth time during which the motion platform moves at the preset maximum jerk, a sixth time during which the motion platform moves at the preset maximum acceleration, a seventh time during which the motion platform moves at the preset maximum speed and a second actual jerk in the first stage motion trajectory; determining a jerk profile, a jerk profile, an acceleration profile, a velocity profile, and a displacement profile of the motion trajectory according to the first time, the second time, the third time, the fourth time, the fifth time, the sixth time, the seventh time, the first actual jerk, and the second actual jerk; According to the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile, the jerk, the jerk, the acceleration, the velocity and the displacement of the moving stage when moving are planned according to a predetermined servo cycle.

2. The planning method according to claim 1, characterized in that: The determining, according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration, a first time for the motion platform to move at the preset maximum jerk in the second-stage motion trajectory, a second time for the motion platform to move at the preset maximum jerk, a third time for the motion platform to move at the preset maximum acceleration and a first actual jerk in the second-stage motion trajectory comprises: determining the first time according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, and the preset maximum acceleration; determining the second time according to the first time, the preset maximum speed, the preset maximum jerk, and the preset maximum acceleration; determining the third time according to the first time, the second time, the preset maximum speed, the preset maximum jerk, and the preset maximum acceleration; rounding the first time, the second time and the third time according to the predetermined servo cycle; The first actual jerk is determined according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the rounded first time, the second time, and the third time.

3. The planning method according to claim 1, characterized in that: The step of determining the end position of the first stage motion trajectory according to the starting position corresponding to the scene working segment, the first actual jerk, the first time, the second time, the third time, the adjustment time, and the preset maximum speed includes: determining, according to the first actual jerk, the first time, the second time, and the third time, a first displacement of the motion platform when the motion speed reaches the preset maximum speed for the first time in the second stage motion trajectory; Determining a second displacement corresponding to the first adjustment section according to the preset maximum speed and the adjustment time; The end position of the first stage motion trajectory is determined according to the starting position corresponding to the scene working segment, the first displacement and the second displacement.

4. The planning method according to claim 1, characterized in that: The determining, according to the preset starting position of the motion trajectory, the end position of the first stage motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration and the preset maximum speed, a fourth time when the motion platform moves at the preset maximum jerk, a fifth time when the motion platform moves at the preset maximum jerk, a sixth time when the motion platform moves at the preset maximum acceleration, a seventh time when the motion platform moves at the preset maximum speed and a second actual jerk in the first stage motion trajectory, comprises: determining the fourth time according to the preset starting position of the motion trajectory, the ending position of the first stage motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration and the preset maximum speed; determining the fifth time according to the preset starting position of the motion trajectory, the ending position of the first stage motion trajectory, the preset maximum jerk, the preset maximum acceleration, the preset maximum speed and the fourth time; determining the sixth time according to a preset starting position of the motion trajectory, an end position of the first stage motion trajectory, the preset maximum jerk, the preset maximum speed, the fourth time, and the fifth time; determining the seventh time according to a preset starting position of the motion trajectory, an end position of the first stage motion trajectory, the preset maximum jerk, the preset maximum speed, the fourth time, the fifth time, and the sixth time; rounding the fourth time, the fifth time, the sixth time and the seventh time according to the predetermined servo cycle; The second actual jerk is determined according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the rounded fourth time, the fifth time, the sixth time, and the seventh time.

5. The planning method according to claim 1, characterized in that: The determining, according to the first time, the second time, the third time, the fourth time, the fifth time, the sixth time, the seventh time, the first actual jerk, and the second actual jerk, a jerk profile, a jerk profile, an acceleration profile, a velocity profile, and a displacement profile of the motion trajectory comprises: determining a jerk profile of the second-stage motion trajectory according to the first actual jerk, the first time, the second time, the third time, the adjustment time, and the working time; determining a jerk profile of the motion trajectory of the first stage according to the second actual jerk, the fourth time, the fifth time, the sixth time, and the seventh time; splicing the jerk profile of the first-stage motion trajectory and the jerk profile of the second-stage motion trajectory to obtain the jerk profile of the motion trajectory; The jerk profile of the motion trajectory is sequentially integrated by single integration, double integration, triple integration and quadruple integration to obtain the jerk profile, acceleration profile, velocity profile and displacement profile of the motion trajectory.

6. The planning method according to claim 1, characterized in that: According to the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile, the jerk, the jerk, the acceleration, the velocity and the displacement of the motion stage are planned according to a predetermined servo cycle, including: constructing a time switching matrix according to the time nodes of the jerk change in the jerk profile; Starting from the start of the motion stage, timing is performed according to the predetermined servo cycle; When the timing is determined to be at any time node according to the time switching matrix, the jerk, acceleration, velocity and displacement of the motion stage from the time node to the next time node are determined according to the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile; The motion stage is controlled according to the jerk, acceleration, velocity and displacement of the motion stage from the time node to the next time node.

7. The planning method according to claim 2, characterized in that: The determining the first time according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk and the preset maximum acceleration includes: determining a first value of the first time according to the preset maximum speed and the preset maximum jerk; determining a second value of the first time according to the preset maximum jerk and the preset maximum acceleration; determining a third value of the first time according to the preset maximum jerk and the preset maximum jerk; Compare a first value of the first time, a second value of the first time, and a third value of the first time, and select a minimum value as the first time.

8. A device for planning the motion trajectory of a motion platform, characterized in that: The motion trajectory of the motion platform includes a first-stage motion trajectory and a second-stage motion trajectory, wherein the first-stage motion trajectory includes a first acceleration segment, a first uniform speed segment, and a first deceleration segment, and the second-stage motion trajectory includes a second acceleration segment, a first adjustment segment, a scene working segment, a second adjustment segment, and a second deceleration segment; The motion platform moves at a uniform speed in the scene working section to perform the corresponding production task; the planning device includes: An establishment module is used to establish motion constraints of the motion trajectory according to the engineering parameters sent by the host computer; the motion constraints include a preset starting position, a preset maximum jerk, a preset maximum jerk and a preset maximum acceleration of the motion trajectory, a starting position, an end position and a working time corresponding to the scene working segment, and an adjustment time corresponding to the first adjustment segment; A first determination module is used to determine a preset maximum speed of the motion platform for uniform motion in the scene working section according to a starting position, an ending position and a working time corresponding to the scene working section; a second determining module, configured to determine, according to the preset maximum speed, the preset maximum jerk, the preset maximum jerk, and the preset maximum acceleration, a first time during which the motion platform moves at the preset maximum jerk in the second-stage motion trajectory, a second time during which the motion platform moves at the preset maximum jerk, a third time during which the motion platform moves at the preset maximum acceleration, and a first actual jerk in the second-stage motion trajectory; a third determination module, configured to determine an end position of the first stage motion trajectory according to a starting position corresponding to the scene working segment, the first actual jerk, the first time, the second time, the third time, the adjustment time, and the preset maximum speed; a fourth determining module, configured to determine, according to a preset starting position of the motion trajectory, an end position of the first stage motion trajectory, the preset maximum jerk, the preset maximum jerk, the preset maximum acceleration, and the preset maximum speed, a fourth time during which the motion platform moves at the preset maximum jerk, a fifth time during which the motion platform moves at the preset maximum jerk, a sixth time during which the motion platform moves at the preset maximum acceleration, a seventh time during which the motion platform moves at the preset maximum speed, and a second actual jerk in the first stage motion trajectory; a fifth determining module, configured to determine a jerk profile, a jerk profile, an acceleration profile, a velocity profile, and a displacement profile of the motion trajectory according to the first time, the second time, the third time, the fourth time, the fifth time, the sixth time, the seventh time, the first actual jerk, and the second actual jerk; A planning module is used to plan the jerk, jerk, acceleration, velocity and displacement of the motion platform during movement according to a predetermined servo cycle based on the jerk profile, the jerk profile, the acceleration profile, the velocity profile and the displacement profile.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the planning method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the planning method according to any one of claims 1 to 7 are executed.

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