An asymmetric S-shaped speed curve planning method for high-speed sorting robots

Abstract

The present invention discloses an asymmetric S-type speed curve planning method for a high-speed sorting robot, and relates to the technical field of high-speed motion control. The present invention provides an optimization and improvement of a traditional symmetrical S-curve acceleration and deceleration algorithm, obtains acceleration, speed, and displacement calculation formulas under special constraints, realizes asymmetric motion of the acceleration and deceleration algorithm, and adjusts the acceleration and deceleration time by a symmetry factor. The method can be transplanted to an embedded platform, improves the flexibility of the original algorithm calculation, can adapt to all motion conditions for speed planning, and sets the symmetry factor in advance. The robot motion time is adjusted by the symmetry factor, which is simple and efficient, and is conducive to improving motion accuracy and real-time performance.

Description

Technical Field

[0001] The present invention relates to the field of high-speed motion control technology, and in particular to a method for speed planning of a high-speed sorting robot by optimizing and improving a traditional symmetrical S-curve acceleration and deceleration algorithm. Background Art

[0002] Acceleration and deceleration control is a key technology in the development of motion control systems. The goal of high-speed sorting robots is to pick and place parts with high precision and efficiency. Therefore, on the one hand, the sorting robots are required to have fast response, quick and accurate start and stop, and shorten preparation time; on the other hand, they are required to have smooth movement and small impact during movement. These requirements need to be guaranteed by acceleration and deceleration control.

[0003] The principle of trapezoidal speed planning control algorithm is simple and relatively easy to implement, but the speed of the planning calculation result is not smooth enough, and the acceleration changes suddenly, which may cause step loss in severe cases. S-type planning can solve the acceleration mutation. In order to deal with the S-type curve in special cases, the pull-type approximation method is used to solve the complete S-type planning, but the algorithm has a large amount of calculation and is not suitable for use on general embedded platforms. Trigonometric function acceleration trajectory planning should have better boundary value control capabilities, and the interpolation curve is smoother, but there are restrictions on the use of the algorithm. Under some special conditions, the planning algorithm cannot output the desired results. Summary of the invention

[0004] The purpose of the present invention is to provide an asymmetric S-type speed planning method for a high-speed sorting robot, which improves the flexibility of the original algorithm calculation and can adapt to all motion conditions for speed planning. Compared with traditional S-type speed planning, it can respond faster, move more smoothly, and produce less impact.

[0005] The present invention provides a technical solution:

[0006] A method for planning an asymmetric S-shaped speed curve for a high-speed sorting robot comprises the following steps:

[0007] Step 1: Set the symmetry factor α and target displacement S of the high-speed sorting robot tg , maximum speed V max , maximum acceleration A max , acceleration J, adjusting the acceleration and deceleration time ratio through the symmetry factor;

[0008] The symmetry factor α is set according to the use environment of the high-speed sorting robot to adjust the acceleration and deceleration time ratio to ensure the speed and avoid damage to the parts. For example, if the picked parts are fragile, a larger α can usually be set; if the picked parts are not easily damaged, a smaller α can be set. Usually α>1.

[0009] T d =αTa (1)

[0010] Where T a Total time of acceleration phase, T d is the total time of the deceleration stage, and the target displacement S is set at the same time tg , maximum speed V max , maximum acceleration A max , acceleration J;

[0011] Step 2: Determine the required displacement for each case based on whether the robot's actual maximum acceleration and actual maximum speed can reach the system upper limit;

[0012] Find the maximum speed and maximum acceleration of the high-speed sorting robot when they can reach the set upper limit V max and A max The required displacement L1; solve the problem when the actual maximum acceleration of the high-speed sorting robot can reach the set upper limit A max The required displacement L2; solve the maximum speed when the high-speed sorting robot system actually runs can reach the system upper limit V max The required displacement L3;

[0013]

[0014] Where V max is the set maximum speed, α is the set symmetry factor, A max is the set maximum acceleration, J is the set jerk;

[0015] Step 3: Compare the displacements L1, L2, L3 obtained in step 2 with the target displacement S tg , calculate the acceleration time, uniform speed time, and deceleration time;

[0016] Step 4: Correct the maximum speed and maximum acceleration of the high-speed sorting robot;

[0017] Step 5: Round off each time segment after solution;

[0018] The specific process of step 5 is: according to the calculation in the previous step, the specific value of each time period is calculated under the set constraint conditions. The embedded system is a discrete system, and the value solved by continuous calculation is not necessarily the sampling period T of the embedded system. s Therefore, it is necessary to round the length of each time segment from T1 to T7 to the sampling period T s The acceleration and speed of the high-speed sorting robot are basically at the limit state, so the acceleration and speed after rounding cannot exceed the limit value of the system to avoid damage to the picked and placed parts due to excessive speed;

[0019] Step 5.1: Acceleration phase time rounding method, assuming the sampling period is T s , let T1 / T s =n1, T2 / T s =n2, to satisfy the integer multiple n1, n2 rounded up, the maximum speed V max have:

[0020] V max =A max (T1+T2)≤A max (n1T s +n2T s ) (12)

[0021] Among them, V max and A max All are the values ​​corrected in step 4. In order to ensure the accuracy of the maximum speed and the maximum acceleration does not exceed the system upper limit, the system gives the acceleration A during the interpolation process after rounding. re_max and jerk J re for:

[0022]

[0023] At the same time, the displacement accuracy after rounding must be ensured. At this time, the displacement S1' in the acceleration section is

[0024]

[0025] Step 5.2: The time rounding method for the deceleration stage is the same as that for the acceleration stage. The system given acceleration A during the interpolation process after rounding is obtained. re_max , acceleration J re , the deceleration stage displacement is S'2;

[0026] Step 5.3: Time rounding method for uniform speed stage. Since the accuracy of maximum speed is guaranteed after rounding in acceleration stage, the displacement accuracy is guaranteed in uniform speed stage. When T4=0, no rounding is required. Otherwise, T4 / T s = n4, in order to reduce the end point displacement error, take the nearest integer upward or downward, at this time, the uniform speed segment displacement S' v

[0027] S' v =V max *n4T s (15)

[0028] After rounding, the jerk, acceleration, velocity, and displacement values ​​corresponding to each interpolation cycle are calculated based on the rounded motion time. This rounding method rounds each time segment on the basis of ensuring velocity accuracy, so the acceleration will be appropriately corrected during the actual operation process, avoiding the acceleration exceeding the system upper limit, and ultimately ensuring the accuracy of each displacement segment.

[0029] Step 6: Substitute the obtained time period into the acceleration, velocity, and displacement formula to obtain the running acceleration, velocity, and position at each moment.

[0030] The specific process of step 3 is as follows:

[0031] Step 3.1: If S tg >L1 and This means that there is a uniform motion segment, at which the actual running acceleration and speed can reach the upper limit set by the system. The time for each segment is:

[0032]

[0033] Among them, T1 is the time of the positive acceleration increasing stage, T2 is the time of the positive acceleration constant, T3 is the time of the positive acceleration decreasing stage, T4 is the time of the uniform speed stage, T5 is the time of the reverse acceleration increasing stage, T6 is the time of the reverse acceleration constant, and T7 is the time of the reverse acceleration decreasing stage;

[0034] Step 3.2: If S tg ≤L1 and S tg >L2, it means there is no uniform motion segment. At this time, the actual acceleration can reach the upper limit set by the system, but the actual speed cannot reach the upper limit set by the system. The time of each segment is:

[0035]

[0036] Step 3.3: If S tg ≤L1 and S tg ≤L2, it means there is no uniform motion segment. At this time, the target displacement is too small and the actual maximum running speed and maximum acceleration cannot reach the set upper limit. The time of each segment is:

[0037]

[0038] Step 3.4: If S tg >L3, it means there is a uniform speed segment, at which the maximum speed can reach the upper limit of the system, and the time of each segment is:

[0039]

[0040] Step 3.5: If S tg≤L3, it means that there is no uniform speed segment. At this time, the actual maximum speed and maximum acceleration cannot reach the set upper limit. The time of each segment is:

[0041]

[0042] Furthermore, the specific process of step 4 is as follows:

[0043] Step 4.1: After step 3.2, substitute the solved T1 and T2 into formula (8) to obtain the corrected actual maximum running speed:

[0044] v m =A max T1+A max T2 (8)

[0045] Step 4.2: After step 3.3, substitute the solved T1 into formula (9) to obtain the corrected actual maximum running speed and maximum acceleration:

[0046]

[0047] Step 4.3: After step 3.4, substitute the solved T1 into formula (10) to obtain the corrected actual maximum acceleration:

[0048] a m =JT1 (10)

[0049] Step 4.3: After step 3.4, substitute the solved T1 and T2 into formula (11) to obtain the corrected actual maximum acceleration:

[0050]

[0051] Furthermore, the specific implementation process of step 6 is as follows:

[0052] Substitute the obtained time periods into the acceleration, velocity, and displacement formulas. The acceleration, velocity, and displacement calculation formulas for the seven displacement segments from t0 to t7 are:

[0053] t0 is the starting time, t1 is the boundary time between T1 and T2, t2 is the boundary time between T2 and T3, t3 is the boundary time between T3 and T4, t4 is the boundary time between T4 and T5, t5 is the boundary time between T5 and T6, t6 is the boundary time between T6 and T7, and t7 is the ending time;

[0054] When t∈[t0,t1], the acceleration rises

[0055]

[0056] When t∈[t1,t2], the acceleration is constant

[0057]

[0058] When the acceleration is constant, t∈[t2,t3]:

[0059]

[0060] When t∈[t3,t4] is the uniform velocity segment

[0061]

[0062] When t∈[t4,t5] in the deceleration rising stage

[0063]

[0064] When the deceleration is constant, t∈[t5,t6]

[0065]

[0066] When t∈[t6,t7], the acceleration is reduced.

[0067]

[0068] Compared with the prior art, the optimized new acceleration and deceleration self-developed four-axis dispensing equipment speed planning method provided by the present invention has the following beneficial effects:

[0069] (1) The present invention can plan the displacement, velocity, and acceleration of each interpolation cycle during the interpolation instantiation process for a small line segment of any length. It is suitable for high-speed sorting robots with high-frequency reciprocating motion and short paths, and has good flexibility in calculating different path lengths.

[0070] (2) The present invention can control and adjust the deceleration section by adjusting the symmetry factor according to the working conditions of the equipment picking up different parts, and can respond more quickly to reach the desired speed and reduce the impact at the end of the movement.

[0071] (3) The present invention solves and calculates each constraint condition, classifies the constraints, and derives the speed formula for different constraints. This method can ensure that adjustments can be made according to the actual constraints during the planning process, thereby ensuring that the coordinates of the interpolation position and the command speed can be accurately solved under different constraints. After prior calculation, a normalization factor is obtained, and only the normalization factor is used for real-time monitoring during the movement process, thereby improving the accuracy and real-time performance of the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1It is a graph showing the acceleration, speed and displacement curve changes of an asymmetric S-type speed planning method for a high-speed sorting robot according to the present invention;

[0073] Figure 2 This is a flow chart of an asymmetric S-type speed planning method for a high-speed sorting robot of the present invention;

[0074] Figure 3 The speed change curve diagram is with and without uniform motion segment.

[0075] Figure 4 This is a comparison chart of the following error between the symmetrical S-curve and the non-symmetrical S-curve. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0077] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings.

[0079] Reference Figure 1 , an asymmetric S-shaped speed planning method for high-speed sorting robots. The acceleration, speed, and displacement curve change diagram shows the changes in speed, acceleration, and displacement of the asymmetric S-shaped curve from t0 to t7, and is divided into seven time periods from T1 to T7.

[0080] Reference Figure 2 , a flow chart of an asymmetric S-type speed planning method for a high-speed sorting robot includes the following steps:

[0081] Step 1) The symmetry factor α and target displacement S are set according to the motion requirements of the high-speed sorting robot. tg , maximum speed V max , maximum acceleration A max , acceleration J;

[0082] Step 2) Solve the specific situation when the maximum speed and maximum acceleration of the high-speed sorting robot actually run are satisfied, and the displacements are L1, L2, L3

[0083] Step 3) Determine L1, L2, L3 and target displacement S tg The relationship between them is used to solve the acceleration time, uniform motion time and deceleration time.

[0084] Step 4) Correct the maximum speed and maximum acceleration of the high-speed sorting robot.

[0085] Step 5) rounding off each time segment so that it can be accurately output;

[0086] Step 6) Complete the three-stage complete motion of acceleration stage, uniform speed end and deceleration stage according to the rounded time period. The specific process of step 2) is as follows:

[0087] According to the parameters set by the system, find out the maximum speed and maximum acceleration of the high-speed sorting robot when it actually runs to the set upper limit V max and A max The required displacement L1; solve the problem when the actual maximum acceleration of the high-speed sorting robot can reach the set upper limit A max The required displacement L2; solve the maximum speed when the high-speed sorting robot system actually runs can reach the system upper limit V max The required displacement L3;

[0088] The specific process of step 3) is as follows:

[0089] Step 3.1: If This means that there are uniform motion segments. Find the time of each segment.

[0090] Step 3.2: If S tg ≤L1&S tg >L2, it means there is no uniform motion segment, solve the time of each segment

[0091] Step 3.3: If S tg ≤L1&S tg ≤L2, it means that the target displacement is too small and the actual motion cannot reach the set maximum speed V max and the maximum acceleration A max , there is no uniform motion segment at this time, solve the time of each segment

[0092] Step 3.4: If S tg >L3, it means there is a uniform speed segment, solve the time of each segment

[0093] Step 3.5: If S tg ≤L3, it means there is no uniform speed segment, solve the time of each segment

[0094] The specific process of step 4) is as follows:

[0095] Step 4.1: After step 3.2), substitute the solved T1 and T2 into formula (8) to obtain the corrected actual maximum running speed:

[0096] v m =A max T1+A max T2

[0097] Step 4.2: After step 3.3), substitute the solved T1 into formula (9) to obtain the corrected actual maximum speed and maximum acceleration:

[0098]

[0099] Step 4.3: After step 3.4), substitute the solved T1 into formula (10) to obtain the corrected actual maximum acceleration:

[0100] a m =JT1

[0101] Step 4.3: After step 3.4), substitute the solved T1 and T2 into formula (11) to obtain the corrected actual maximum acceleration:

[0102]

[0103] The specific process of step 5) is as follows:

[0104] According to the calculations in the previous steps, the specific values ​​of each time period can be calculated under the set constraints. The embedded system is a discrete system, and the value solved by continuous calculation is not necessarily the sampling period T of the embedded system. s Therefore, it is necessary to round the length of each time segment from T1 to T7 to the sampling period T s The acceleration and speed of high-speed sorting robots are basically at the limit state, so the acceleration and speed after rounding cannot exceed the limit value of the system to avoid damage to the picked and placed parts due to excessive speed.

[0105] Step 5.1: Acceleration phase time rounding method, assuming the sampling period is T s , let T1 / T s =n1, T2 / T s =n2, to satisfy the integer multiple n1, n2 rounded up, the maximum speed V max have:

[0106] V max =A max (T1+T2)≤A max (n1T s +n2T s )

[0107] V in the formula max and A max All are the values ​​corrected in step 4). In order to ensure the accuracy of the maximum speed and the maximum acceleration does not exceed the system upper limit, the system gives the acceleration A during the interpolation process after rounding. re_max and jerk J re for:

[0108]

[0109] At the same time, the displacement accuracy after rounding must be ensured. At this time, the displacement S1' in the acceleration section is

[0110]

[0111] Step 5.2: The time rounding method for the deceleration stage is the same as that for the acceleration stage. The system given acceleration A during the interpolation process after rounding is obtained. re_max , acceleration J re , the deceleration stage displacement is S'2.

[0112] Step 5.3: Time rounding method for uniform speed stage. Since the accuracy of maximum speed is guaranteed after rounding in acceleration stage, only displacement accuracy needs to be guaranteed in uniform speed stage. When T4=0, rounding is not required. Otherwise, T4 / T s = n4, in order to reduce the end point displacement error, take the nearest integer upward or downward, at this time, the uniform speed segment displacement S' v

[0113] S' v =V max *n4T s

[0114] After rounding, the jerk, acceleration, velocity, and displacement values ​​corresponding to each interpolation cycle can be calculated based on the rounded motion time. This rounding method rounds each time segment on the basis of ensuring velocity accuracy, so the acceleration will be appropriately corrected during the actual operation process, avoiding the acceleration exceeding the system upper limit, and ultimately ensuring the accuracy of each displacement segment.

[0115] The specific process of step 6 is as follows:

[0116] Substitute the obtained time periods into the acceleration, velocity, and displacement formulas. The acceleration, velocity, and displacement calculation formulas for the seven displacement segments from t0 to t7 are:

[0117] When t∈[t0,t1], the acceleration rises

[0118]

[0119] When t∈[t1,t2], the acceleration is constant

[0120]

[0121] When the acceleration is constant, t∈[t2,t3]:

[0122]

[0123] When t∈[t3,t4] is the uniform velocity segment

[0124]

[0125] When t∈[t4,t5] in the deceleration rising stage

[0126]

[0127] When the deceleration is constant, t∈[t5,t6]

[0128]

[0129] When t∈[t6,t7], the acceleration is reduced.

[0130]

[0131] refer to Figure 3 When setting V max =0.7m / s, S tg =3mm, A max =100m / s 2 、Jerk=10 4 m / s 3 When R=1.5, the acceleration time T is planned a =10ms, deceleration time T d =14.1ms, uniform speed time T v = 0ms, the corresponding curves of velocity, acceleration, displacement, etc. change as shown in the reference Figure 3 (a) As shown in the figure, the acceleration curve is a four-segment curve, without a uniform acceleration segment and a uniform speed segment. Due to the short stroke, the actual maximum acceleration and maximum speed do not reach the upper limit set by the system. When V is set max =0.5m / s, S tg =10mm, A max =100m / s 2 、Jerk=10 5 m / s 3 When the acceleration time T is planned a =6ms, deceleration time T d =8.5ms, uniform speed time T v= 12.8ms, the corresponding curves of velocity, acceleration, displacement, etc. are as shown in the reference Figure 3 As shown in (b), the acceleration curve is a seven-segment curve, including a uniform acceleration segment and a uniform speed segment. The actual maximum acceleration and maximum speed reach the upper limit set by the system.

[0132] refer to Figure 4 : The following error curves of symmetrical and asymmetrical S-shaped speed curves. It can be clearly seen from the same figure that the asymmetrical S-shaped speed curve has a better following effect.

[0133] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for planning an asymmetric S-shaped speed curve for a high-speed sorting robot, comprising the following steps: Step 1: Set the symmetry factor α and target displacement S of the high-speed sorting robot tg , maximum speed V max , maximum acceleration A max , acceleration J, adjusting the acceleration and deceleration time ratio through the symmetry factor; According to the use environment of the high-speed sorting robot, the symmetry factor α is set to adjust the acceleration and deceleration time ratio to ensure the speed and avoid damage to the parts; T d =αT a (1) Where T a Total time of acceleration phase, T d is the total time of the deceleration stage, and the target displacement S is set at the same time tg , maximum speed V max , maximum acceleration A max , acceleration J; Step 2: Determine the required displacement for each case based on whether the robot's actual maximum acceleration and actual maximum speed can reach the system upper limit; Find the maximum speed and maximum acceleration of the high-speed sorting robot when they can reach the set upper limit V max and A max The required displacement L1; solve the problem when the actual maximum acceleration of the high-speed sorting robot can reach the set upper limit A max The required displacement L2; solve the maximum speed when the high-speed sorting robot system actually runs can reach the system upper limit V max The required displacement L3; Where V max is the set maximum speed, α is the set symmetry factor, A max is the set maximum acceleration, J is the set jerk; Step 3: Compare the displacements L1, L2, L3 obtained in step 2 with the target displacement S tg , calculate the acceleration time, uniform speed time, and deceleration time; Step 4: Correct the maximum speed and maximum acceleration of the high-speed sorting robot; Step 5: Round off each time segment after solution; The specific process of step 5 is: according to the calculation in the previous step, the specific value of each time period is calculated under the set constraint conditions. The embedded system is a discrete system, and the value solved by continuous calculation is not necessarily the sampling period T of the embedded system. s Therefore, it is necessary to round the length of each time segment from T1 to T7 to the sampling period T s The acceleration and speed of the high-speed sorting robot are at the limit state, so the acceleration and speed after rounding cannot exceed the limit value of the system to avoid damage to the picked and placed parts due to excessive speed; Step 5.1: Acceleration phase time rounding method, assuming the sampling period is T s , let T1 / T s =n1, T2 / T s =n2, to satisfy the integer multiple n1, n2 rounded up, the maximum speed V max have: V max =A max (T1+T2)≤A max (n1T s +n2T s ) (12) Among them, V max and A max All are the values ​​corrected in step 4. In order to ensure the accuracy of the maximum speed and the maximum acceleration does not exceed the system upper limit, the system gives the acceleration A during the interpolation process after rounding. re_max and jerk J re for: At the same time, the displacement accuracy after rounding must be ensured. At this time, the displacement S1' in the acceleration section is Step 5.2: The time rounding method for the deceleration stage is the same as that for the acceleration stage. The system given acceleration A during the interpolation process after rounding is obtained. re_max , acceleration J re , the deceleration stage displacement is S'2; Step 5.3: Time rounding method for uniform speed stage. Since the accuracy of maximum speed is guaranteed after rounding in acceleration stage, the displacement accuracy is guaranteed in uniform speed stage. When T4=0, no rounding is required. Otherwise, T4 / T s = n4, in order to reduce the end point displacement error, take the nearest integer upward or downward, at this time, the uniform speed segment displacement S' v S' v =V max *n4T s (15) After rounding, the jerk, acceleration, velocity, and displacement values ​​corresponding to each interpolation cycle are calculated based on the rounded motion time of each segment; Step 6: Substitute the obtained time period into the acceleration, velocity, and displacement formula to obtain the running acceleration, velocity, and position at each moment.

2. The asymmetric S-shaped speed curve planning method of a high-speed sorting robot according to claim 1, characterized in that: The specific process of step 3 is as follows: Step 3.1: If S tg >L1 and This means that there is a uniform motion segment, at which the actual running acceleration and speed can reach the upper limit set by the system. The time for each segment is: Among them, T1 is the time of the positive acceleration increasing stage, T2 is the time of the positive acceleration constant, T3 is the time of the positive acceleration decreasing stage, T4 is the time of the uniform speed stage, T5 is the time of the reverse acceleration increasing stage, T6 is the time of the reverse acceleration constant, and T7 is the time of the reverse acceleration decreasing stage; Step 3.2: If S tg ≤L1 and S tg >L2, it means there is no uniform motion segment. At this time, the actual acceleration can reach the upper limit set by the system, but the actual speed cannot reach the upper limit set by the system. The time of each segment is: Step 3.3: If S tg ≤L1 and S tg ≤L2, it means there is no uniform motion segment. At this time, the target displacement is too small and the actual maximum running speed and maximum acceleration cannot reach the set upper limit. The time of each segment is: Step 3.4: If S tg >L3, it means there is a uniform speed segment, at which the maximum speed can reach the upper limit of the system, and the time of each segment is: Step 3.5: If S tg ≤L3, it means that there is no uniform speed segment. At this time, the actual maximum speed and maximum acceleration cannot reach the set upper limit. The time of each segment is:

3. The asymmetric S-shaped speed curve planning method of a high-speed sorting robot according to claim 1, characterized in that: The specific process of step 4 is as follows: Step 4.1: After step 3.2, substitute the solved T1 and T2 into formula (8) to obtain the corrected actual maximum running speed: v m =A max T1+A max T2 (8) Step 4.2: After step 3.3, substitute the solved T1 into formula (9) to obtain the corrected actual maximum running speed and maximum acceleration: Step 4.3: After step 3.4, substitute the solved T1 into formula (10) to obtain the corrected actual maximum acceleration: a m =JT1 (10) Step 4.3: After step 3.4, substitute the solved T1 and T2 into formula (11) to obtain the corrected actual maximum acceleration:

4. The asymmetric S-shaped speed curve planning method of a high-speed sorting robot according to claim 1, characterized in that: The specific implementation process of step 6 is as follows: Substitute the obtained time periods into the acceleration, velocity, and displacement formulas. The acceleration, velocity, and displacement calculation formulas for the seven displacement segments from t0 to t7 are: t0 is the starting time, t1 is the boundary time between T1 and T2, t2 is the boundary time between T2 and T3, t3 is the boundary time between T3 and T4, t4 is the boundary time between T4 and T5, t5 is the boundary time between T5 and T6, t6 is the boundary time between T6 and T7, and t7 is the ending time; When t∈[t0,t1], the acceleration rises When t∈[t1,t2], the acceleration is constant When the acceleration is constant, t∈[t2,t3]: When t∈[t3,t4] is the uniform velocity segment When t∈[t4,t5] is the deceleration rising stage When the deceleration is constant, t∈[t5,t6] When t∈[t6,t7], the acceleration is reduced.

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