A method, device, equipment and medium for planning the startup time of a multi-axis manipulator

Abstract

The present invention discloses a method, device, equipment, and medium for planning the startup time of a multi-axis manipulator. The method includes: determining the motion parameters of each manipulator axis based on the manipulator's target position coordinates and the manipulator's starting position coordinates; setting a startup time strategy for each manipulator axis; wherein the startup time strategy for each axis is such that the startup time of any axis is 0; the startup time of each remaining axis is any time point before the end of the previous axis's motion; and the startup times of the remaining axes are arranged sequentially; determining the energy savings at different startup times based on the motion parameters of each axis and the startup time strategy for each axis; and determining the optimal startup time for each axis based on the energy savings at different startup times. This solution achieves optimal energy savings by planning the startup time of each axis.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robots, and in particular to a method, device, equipment, and medium for planning startup time of a multi-axis robot. Background Art

[0002] Multi-axis robots are widely used in the field of industrial automation. Generally, multi-axis robots share a common bus voltage. When more robots are used, excessive bus voltage consumption will increase costs.

[0003] When a traditional servo motor drives a manipulator to perform multi-axis motion, when the servo motor decelerates and brakes, most of the electrical energy flowing back to the bus is consumed in the form of heat energy through the braking resistor. The existing technology does not consider the reuse of the energy flowing back from the servo motor during braking. Therefore, recycling and reprocessing part of the energy and improving the comprehensive energy utilization rate have become more important technical issues for energy saving in current manipulators. Summary of the Invention

[0004] The present invention provides a multi-axis manipulator startup time planning method, which takes into account the recovery of deceleration and braking energy during the manipulator startup process and plans the startup time of each axis motor to achieve the optimal energy saving effect.

[0005] In a first aspect, an embodiment of the present invention provides a method for planning the startup time of a multi-axis manipulator, the method comprising:

[0006] Determine the motion parameters of each axis of the manipulator according to the manipulator's target position coordinates and the manipulator's starting position coordinates;

[0007] Set the start time strategy for each axis of the manipulator; wherein, the start time strategy for each axis is that the start time of any axis is 0; the start time of the remaining axes is any time point before the end time of the previous axis movement; the start time of the remaining axes is arranged in sequence;

[0008] Determining energy savings at different start-up times based on the motion parameters of each axis and the start-up time strategy of each axis;

[0009] The optimal start-up time for each axis is determined according to the energy saved at the different start-up moments.

[0010] Optionally, the motion parameters of each axis of the manipulator include a multi-axis mass parameter of the manipulator, a multi-axis distance parameter of the manipulator, a multi-axis acceleration parameter of the manipulator and a multi-axis maximum speed parameter of the manipulator.

[0011] Optionally, also include:

[0012] Determine the spatial trajectory coordinates of each axis at different start-up times according to the start-up time strategy of each axis and the motion parameters of each axis of the manipulator;

[0013] Determining the optimal start-up time for each axis based on the energy saved at different start-up moments includes:

[0014] The optimal start-up time of each axis is determined according to the energy saved at different start-up times and the spatial trajectory coordinates at different start-up times.

[0015] Optionally, determining energy saving at different startup moments according to the motion parameters of each axis and the startup time strategy of each axis includes:

[0016] Determine whether each axis is in an acceleration state or a deceleration state at the current moment according to the motion parameters of each axis;

[0017] Determine the current power consumption according to the acceleration state of each axis and the starting time strategy of each axis;

[0018] Determine the electric braking recovery power at the current moment according to the deceleration state of each axis and the starting time strategy of each axis;

[0019] The energy saving at different starting moments is determined based on the electric energy loss power at the current moment, the electric energy braking recovery power at the current moment, and the end time of each axis movement.

[0020] Optionally, determining the optimal start-up time for each axis according to the energy saved at different start-up moments includes:

[0021] Arrange the energy savings at different startup times by size,

[0022] The starting time corresponding to the maximum energy saving is determined as the optimal starting time for each axis.

[0023] Optionally, determining the optimal start-up time for each axis according to the energy saved at different start-up times and the spatial trajectory coordinates at different start-up times includes:

[0024] When the energy saving at the current startup moment is the highest and the spatial trajectory coordinates at the current startup moment do not belong to the preset limit spatial trajectory coordinates, the current startup moment is determined to be the optimal startup time for each axis.

[0025] In a second aspect, an embodiment of the present invention further provides a multi-axis manipulator startup time planning device, the device comprising:

[0026] A parameter determination module is used to determine the motion parameters of each axis of the manipulator according to the target position coordinates of the manipulator and the starting position coordinates of the manipulator;

[0027] The start time setting module is used to set the start time strategy of each axis of the manipulator; wherein, the start time strategy of each axis is that the start time of any axis is 0; the start time of the remaining axes is any time point before the end time of the previous axis movement; the start time of the remaining axes is arranged in sequence;

[0028] An energy saving determination module, configured to determine energy saving at different start-up times based on motion parameters of each axis of the manipulator and a start-up time strategy for each axis;

[0029] The optimal startup time determination module is used to determine the optimal startup time of each axis according to the energy saving at different startup moments.

[0030] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising:

[0031] at least one processor; and

[0032] a memory communicatively connected to the at least one processor; wherein,

[0033] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the multi-axis robot startup time planning method described in the first aspect.

[0034] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a multi-axis manipulator startup time planning method described in the first aspect when executed.

[0035] In an embodiment of the present invention, the motion parameters of each axis of the manipulator are determined according to the target position coordinates and the starting position coordinates of the manipulator; and a start-up time strategy for each axis of the manipulator is set; wherein, the start-up time strategy for each axis is that the start-up time of any axis is 0; the start-up time of the remaining axes is any time point before the end of the motion of the previous axis; the start-up time of the remaining axes is arranged in sequence; the energy saving at different start-up times is determined according to the motion parameters of each axis and the start-up time strategy of each axis; and then the optimal start-up time of each axis is determined according to the energy saving at different start-up times, so that the optimal energy saving effect is achieved by planning the start-up time of each axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart of a method for planning the startup time of a multi-axis manipulator provided by an embodiment of the present invention;

[0037] Figure 2 This is a flow chart of another method for planning the startup time of a multi-axis manipulator provided by an embodiment of the present invention;

[0038] Figure 3 1 is a schematic diagram of a velocity / displacement-time curve 1 provided by an embodiment of the present invention;

[0039] Figure 42 is a schematic diagram of a velocity / displacement-time curve 2 provided by an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the structure of the start-up time strategy for each axis of the manipulator provided by an embodiment of the present invention;

[0041] Figure 6 This is a structural diagram of a multi-axis manipulator startup time planning device provided by an embodiment of the present invention;

[0042] Figure 7 The figure is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0044] Figure 1 This is a flowchart of a method for planning the startup time of a multi-axis manipulator provided by an embodiment of the present invention. This embodiment is applicable to planning the startup time of a multi-axis manipulator. The method can be executed by a multi-axis manipulator startup time planning device, such as Figure 1 As shown, the method specifically includes the following steps:

[0045] S110 , determining the motion parameters of each axis of the manipulator according to the manipulator target position coordinates and the manipulator starting position coordinates.

[0046] Among them, the motion parameters of each axis of the manipulator are important parameters that characterize the motion state of each axis of the manipulator; the motion state of each axis of the manipulator includes the entire motion process between the initial state of each axis and the end state of each axis; the entire motion process may include acceleration-constant speed-deceleration motion stages, and may also include acceleration-deceleration motion stages; in this embodiment, no specific limitation is made to the motion stages of the specific motion process.

[0047] S120, setting the start time strategy for each axis of the manipulator; wherein, the start time strategy for each axis is that the start time of any axis is 0; the start time of the remaining axes is any time point before the end time of the previous axis movement; the start time of the remaining axes is arranged in sequence.

[0048] Generally speaking, when the motor in a traditional robot drives the movement of each axis, the movement phases of each axis will not overlap, that is, the end moment of the starting movement of any axis is the beginning moment of the starting movement of the next axis; the motor is in the process of converting electrical energy into kinetic energy during the acceleration phase, and this phase is the stage of electrical energy consumption; and in the deceleration phase (braking phase) of the motor, part of the kinetic energy will be converted into electrical energy, and this phase is the stage of electrical energy reflow. Since the movement phases of each axis do not overlap, in practice, to prevent the voltage from being too high, the reflux electrical energy during the motor braking process will be consumed in the form of heat energy through the braking resistor.

[0049] In this embodiment, the starting time of any one axis is set to 0; the starting time of the remaining axes is any time point before the end time of the previous axis movement, and the axes are started in sequence. For example, when the manipulator includes three-axis motors, the starting time of one axis is 0, the starting time of the second axis is any time point before the end time of the one axis movement, and the starting time of the three axes is any time point before the end time of the two axes movement; in this way, it can be ensured that the movement stages of any two axes can overlap, and that the feedback energy is consumed by another motor acceleration stage at the same time as a motor deceleration stage, thereby achieving the purpose of energy saving.

[0050] S130 , determining energy savings at different start-up times according to the motion parameters of each axis and the start-up time strategy of each axis.

[0051] Among them, the start time of each axis is any time point before the end time of the previous axis movement. Any time point before the end time of the previous axis movement includes several time points. In this way, the multi-axis start time strategy also includes various forms of different start times. According to the motion parameters of each axis and the start time strategy of each axis, the energy saving of the start time of each axis under various forms can be determined.

[0052] It should also be noted here that the energy saved is the sum of the electrical energy saved by each axis of the robot during the entire movement process; the sum of the electrical energy saved by each axis during the entire movement process (from time 0 when a certain axis starts to time when all axes end) is related to the sum of the electrical energy consumed during the entire movement process of each axis (from time 0 when a certain axis starts to time when all axes end) and the sum of the reflux electrical energy during the entire movement process of each axis (from time 0 when a certain axis starts to time when all axes end).

[0053] S140 , determining the optimal start-up time for each axis based on energy savings at different start-up times.

[0054] The energy savings at different startup times are arranged by size, and the startup time corresponding to the highest energy savings is determined as the optimal startup time for each axis. This embodiment determines the motion parameters of each axis of the manipulator based on the manipulator's target position coordinates and the manipulator's starting position coordinates; sets a startup time strategy for each axis of the manipulator; determines the energy savings at different startup times based on the motion parameters of each axis and the startup time strategy for each axis; and then determines the optimal startup time for each axis based on the energy savings at different startup times. In this way, by planning the startup time of each axis, the optimal energy savings are achieved.

[0055] Based on the above embodiment, further optimization is performed. Figure 2 This is a flow chart of another method for planning the startup time of a multi-axis manipulator provided by an embodiment of the present invention. Figure 2 As shown, the method includes:

[0056] S210 , determining the motion parameters of each axis of the manipulator according to the manipulator target position coordinates and the manipulator starting position coordinates.

[0057] Among them, the motion parameters of each axis of the manipulator include the manipulator multi-axis mass parameter, the manipulator multi-axis distance parameter, the manipulator multi-axis acceleration parameter and the manipulator multi-axis maximum speed parameter. The motion state of the multi-axis can be uniquely determined by the mass parameters, distance parameters, multi-axis acceleration parameters and maximum speed parameters of each axis; here, taking the three-axis manipulator as an example, the mass of the three axes of the manipulator is set to M1, M2, M3, the distance is S1, S2, S3; the acceleration is a1, a2, a3; the maximum speed is Vmax1, Vmax2, Vmax3; compare the acceleration parameters and distance parameters of each axis, here, taking one of the axes as an example, the axis motion parameters are unified as: axis mass M, distance S; acceleration a; maximum speed Vmax; if it satisfies Then the speed / displacement-time curve of the axis is determined to be speed / displacement-time curve 1. Figure 3 is a schematic diagram of a velocity / displacement-time curve 1 provided by an embodiment of the present invention, Figure 3 As shown, the speed expression corresponding to different times can be determined as:

[0058]

[0059] If satisfied Then the speed / displacement-time curve of the axis is determined to be speed / displacement-time curve 2. Figure 4 is another velocity / displacement-time curve 2 provided by an embodiment of the present invention, Figure 4 As shown, the speed expression corresponding to different times can be determined as:

[0060]

[0061] It can be understood that the motion states of the other two axes are similar, and the same speed expressions are not repeated here.

[0062] S220, setting the start time strategy for each axis of the manipulator; wherein, the start time strategy for each axis is that the start time of any axis is 0; the start time of the remaining axes is any time point before the end time of the previous axis movement; the start time of the remaining axes is arranged in sequence.

[0063] in, Figure 5 Schematic diagram of the structure of the start-up time strategy of each axis of the manipulator provided by the embodiment of the present invention, such as Figure 5 As shown, Figure 5 It indicates that the starting time of the first axis is 0(t q1 ), the end time of the first axis movement is T2, and the start time of the second axis is t q2 The second axis ends at T4, and the third axis starts at T q3 , the end time of the third axis movement is Tmax, that is, the end time of all axis movement is Tmax; it can be understood that the start time of the second axis is t q2 The end time of the first axis movement can be selected as any time point before T2 (indicated by the dotted line); the start time of the third axis is t q3 The second axis's end time can be selected as any point before T4 (indicated by the dotted line); this allows the first and second axis's motion phases to overlap, and vice versa. Thus, at time t, if the first axis is decelerating, the second axis is accelerating, and the third axis is inactive, the energy consumed by the second axis's acceleration phase is supplemented by the energy fed back from the first axis's deceleration phase, achieving energy savings.

[0064] S230 : Determine energy savings at different start-up times based on the motion parameters of each axis and the start-up time strategy of each axis.

[0065] Among them, the energy saving at different starting moments is determined according to the motion parameters of each axis and the start-up time strategy of each axis, including determining the acceleration state and deceleration state of each axis according to the motion parameters of each axis; determining the electric energy loss power at the current moment according to the acceleration state of each axis and the start-up time strategy of each axis; determining the electric energy braking recovery power at the current moment according to the deceleration state of each axis and the start-up time strategy of each axis; determining the energy saving at different starting moments according to the electric energy loss power at the current moment, the electric energy braking recovery power at the current moment and the end time of each axis movement. Here, take any axis of the three-axis manipulator as an example, take speed / displacement-time curve 1 as an example, and continue to refer to Figure 3 , first 1) determine the acceleration state according to the axis motion parameters:

[0066] V(t)=a*t,

[0067] The uniform speed state is determined according to the axis motion parameters:

[0068] V(t)=Vmax,

[0069] In this state, the motor shaft rotates at a constant speed. During this process, the work is mainly done to overcome friction, and the energy consumed is relatively small. Therefore, the energy consumed by this constant speed motion can be ignored.

[0070] The deceleration state is determined according to the axis motion parameters:

[0071]

[0072] 2) According to the acceleration stage, electrical energy is converted into kinetic energy at a certain ratio n1, so the power consumption in the acceleration stage is:

[0073] P consumption (t) = n1*M*a 2 *t,

[0074] If the current time is t and the start time of a certain axis is tq, the power consumption of the axis at the current time t is:

[0075]

[0076] 3) According to the deceleration stage, the kinetic energy of the motor is converted into electrical energy at a certain ratio n2 during braking. The electric energy braking recovery power in the deceleration stage is:

[0077]

[0078] If the current time is t and the axis start time is tq, the electric energy braking recovery power of the axis at the current time t is:

[0079]

[0080] The power consumption of the other two axes at the current time t is similar. 4) Based on this, the sum of the power consumption of the three axes at the current time t can be determined as P 耗总 And the sum of the electric energy braking recovery power of the three axes P 回总 , if at the current time t, one or more axis motors are braking to recover electric energy while another axis or more axis motors are accelerating to consume electric energy, the energy saved at the current time t is;

[0081]

[0082] The energy saved at different starting times is determined by the end time Tmax of each axis movement:

[0083]

[0084] The energy saving value is obtained by comparison and arrangement, and the one with the higher energy saving value is determined as the optimal start-up time for each axis.

[0085] In some other cases, the gravitational potential energy of each axis can also be taken into account.

[0086] S240 , determining the spatial trajectory coordinates of each axis at different start-up times according to the start-up time strategy of each axis and the motion parameters of each axis of the manipulator.

[0087] Among them, Figure 3 Taking the motion state of speed / displacement-time curve 1 as an example, according to the start-up time strategy of each axis and the motion parameters of each axis of the manipulator, the spatial trajectory coordinates P (X, Y, Z) of each axis at different start-up times are determined as follows:

[0088] S250 , determining the optimal start-up time for each axis according to the energy saved at different start-up times and the spatial trajectory coordinates at different start-up times.

[0089] Specifically, when the energy savings at the current startup time are the highest and the spatial trajectory coordinates at the current startup time do not fall within the preset restricted spatial trajectory coordinates, the current startup time is determined to be the optimal startup time for each axis. The preset spatial trajectory coordinate range can be understood as the range of spatial position coordinates where obstacles are located. Thus, based on the above embodiment, this embodiment considers the spatial trajectory coordinates at different startup times as the innermost, and when the spatial trajectory coordinates do not fall within the preset restricted spatial trajectory coordinates, the spatial position coordinate range where obstacles are located is excluded. In this way, this solution achieves the dual effects of optimizing energy savings and eliminating obstacles by planning the startup time of each axis.

[0090] An embodiment of the present invention also provides a multi-axis manipulator startup time planning device; the multi-axis manipulator startup time planning device can execute a multi-axis manipulator startup time planning method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. Figure 6 : is a structural diagram of a multi-axis manipulator startup time planning device provided by an embodiment of the present invention, such as Figure 6 As shown, the device includes:

[0091] The parameter determination module 10 is used to determine the motion parameters of each axis of the manipulator according to the target position coordinates of the manipulator and the starting position coordinates of the manipulator;

[0092] The start time setting module 20 is used to set the start time strategy of each axis of the manipulator; wherein the start time strategy of each axis is that the start time of any axis is 0; the start time of the remaining axes is any time point before the end time of the previous axis movement; the start time of the remaining axes is arranged in sequence;

[0093] An energy saving determination module 30 is used to determine the energy saving at different start-up times according to the motion parameters of each axis of the manipulator and the start-up time strategy of each axis;

[0094] The optimal startup time determination module 40 is used to determine the optimal startup time for each axis according to the energy saving at different startup moments.

[0095] Optionally, the motion parameters of each axis of the manipulator include a multi-axis mass parameter of the manipulator, a multi-axis distance parameter of the manipulator, a multi-axis acceleration parameter of the manipulator and a multi-axis maximum speed parameter of the manipulator.

[0096] Optionally, also include:

[0097] A spatial trajectory coordinate determination module is used to determine the spatial trajectory coordinates of each axis at different start-up times according to the start-up time strategy of each axis and the motion parameters of each axis of the manipulator;

[0098] The optimal start-up time determination module 40 is further configured to:

[0099] The optimal start-up time of each axis is determined according to the energy saved at different start-up times and the spatial trajectory coordinates at different start-up times.

[0100] Optionally, the energy saving determination module 30 includes:

[0101] a motion state determining unit, configured to determine whether each axis is in an acceleration state or a deceleration state at a current moment according to the motion parameters of each axis;

[0102] an energy loss total amount determination unit, configured to determine the electric energy loss power at the current moment according to the acceleration state of each axis and the start-up time strategy of each axis;

[0103] a braking recovery total energy determination unit, configured to determine the electric braking recovery power at the current moment according to the deceleration state of each axis and the starting time strategy of each axis;

[0104] The energy saving determination unit is used to determine the energy saving at different starting moments according to the electric energy loss power at the current moment, the electric energy braking recovery power at the current moment and the end time of each axis movement.

[0105] Optional, optimal startup time determination module, specifically used for:

[0106] Arrange the energy savings at different startup times by size,

[0107] The starting time corresponding to the maximum energy saving is determined as the optimal starting time for each axis.

[0108] Optionally, the optimal startup time determination module is further specifically used to:

[0109] When the energy saving at the current startup moment is the highest and the spatial trajectory coordinates at the current startup moment do not belong to the preset limit spatial trajectory coordinates, the current startup moment is determined to be the optimal startup time for each axis.

[0110] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention is shown in FIG. Figure 7 As shown, the device includes a processor 70, a memory 71, an input device 72 and an output device 73; the number of processors 70 in the device can be one or more. Figure 7 In the embodiment, a processor 70 is used as an example; the processor 70, the memory 71, the input device 72 and the output device 73 in the device can be connected by a bus or other means. Figure 7 The bus connection is taken as an example.

[0111] Memory 71, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the multi-axis manipulator startup time planning method in the embodiments of the present invention. Processor 70 executes the software programs, instructions, and modules stored in memory 71 to execute various functional applications and data processing of the device, thereby implementing the multi-axis manipulator startup time planning method described above.

[0112] The memory 71 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data created based on the use of the terminal, etc. Furthermore, the memory 71 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory 71 may further include memory remotely located relative to the processor 70, and these remote memories may be connected to the device via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0113] The input device 72 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 73 may include a display device such as a display screen.

[0114] An embodiment of the present invention further provides a storage medium containing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are used to execute a method for planning the startup time of a multi-axis manipulator, the method comprising:

[0115] Determine the motion parameters of each axis of the manipulator according to the manipulator's target position coordinates and the manipulator's starting position coordinates;

[0116] Set the start time strategy for each axis of the manipulator; wherein, the start time strategy for each axis is that the start time of any axis is 0; the start time of the remaining axes is any time point before the end time of the previous axis movement; the start time of the remaining axes is arranged in sequence;

[0117] Determining energy savings at different start-up times based on the motion parameters of each axis and the start-up time strategy of each axis;

[0118] The optimal start-up time for each axis is determined according to the energy saved at the different start-up moments.

[0119] Of course, the storage medium containing computer-executable instructions provided in an embodiment of the present invention is not limited to the method operations described above, and can also execute related operations in the multi-axis manipulator startup time planning method provided in any embodiment of the present invention.

[0120] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0121] It is worth noting that in the embodiment of the above-mentioned search device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0122] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A multi-axis manipulator startup time planning method, characterized in that: include: Determine the motion parameters of each axis of the manipulator according to the manipulator's target position coordinates and the manipulator's starting position coordinates; Set the start time strategy for each axis of the manipulator; wherein, the start time strategy for each axis is that the start time of any axis is 0; the start time of the remaining axes is any time point before the end time of the previous axis movement; the start time of the remaining axes is arranged in sequence; Determining energy savings at different start-up times based on the motion parameters of each axis and the start-up time strategy of each axis; Determining the optimal start-up time for each axis based on the energy saved at the different start-up moments; Determining energy savings at different startup moments according to the motion parameters of each axis and the startup time strategy of each axis includes: Determine whether each axis is in an acceleration state or a deceleration state at the current moment according to the motion parameters of each axis; Determine the current power consumption according to the acceleration state of each axis and the start-up time strategy of each axis; Determine the electric braking recovery power at the current moment according to the deceleration state of each axis and the starting time strategy of each axis; The energy saving at different starting moments is determined based on the electric energy loss power at the current moment, the electric energy braking recovery power at the current moment, and the end time of each axis movement.

2. The multi-axis manipulator startup time planning method according to claim 1, characterized in that: The motion parameters of each axis of the manipulator include multi-axis mass parameters of the manipulator, multi-axis distance parameters of the manipulator, multi-axis acceleration parameters of the manipulator and multi-axis maximum speed parameters of the manipulator.

3. The multi-axis manipulator startup time planning method according to claim 1, characterized in that: Also includes: Determine the spatial trajectory coordinates of each axis at different start-up times according to the start-up time strategy of each axis and the motion parameters of each axis of the manipulator; Determining the optimal start-up time for each axis based on the energy saved at different start-up moments includes: The optimal start-up time of each axis is determined according to the energy saved at different start-up times and the spatial trajectory coordinates at different start-up times.

4. The multi-axis manipulator startup time planning method according to claim 1, characterized in that: Determining the optimal start-up time for each axis based on the energy saved at different start-up moments includes: Arrange the energy savings at different startup times by size, The starting time corresponding to the maximum energy saving is determined as the optimal starting time for each axis.

5. The multi-axis manipulator startup time planning method according to claim 3, characterized in that: Determining the optimal start-up time of each axis according to the energy saved at different start-up times and the spatial trajectory coordinates at different start-up times includes: When the energy saving at the current startup moment is the highest and the spatial trajectory coordinates at the current startup moment do not belong to the preset limit spatial trajectory coordinates, the current startup moment is determined to be the optimal startup time for each axis.

6. A multi-axis manipulator startup time planning device, characterized in that: include: A parameter determination module is used to determine the motion parameters of each axis of the manipulator according to the target position coordinates of the manipulator and the starting position coordinates of the manipulator; The start time setting module is used to set the start time strategy of each axis of the manipulator; wherein, the start time strategy of each axis is that the start time of any axis is 0; the start time of the remaining axes is any time point before the end time of the previous axis movement; the start time of the remaining axes is arranged in sequence; An energy saving determination module, configured to determine energy saving at different start-up times based on motion parameters of each axis of the manipulator and a start-up time strategy for each axis; An optimal startup time determination module, configured to determine the optimal startup time for each axis based on the energy saved at different startup moments; The energy saving determination module includes: a motion state determining unit, configured to determine whether each axis is in an acceleration state or a deceleration state at a current moment according to the motion parameters of each axis; an energy loss total amount determination unit, configured to determine the electric energy loss power at the current moment according to the acceleration state of each axis and the start-up time strategy of each axis; a braking recovery total energy determination unit, configured to determine the electric braking recovery power at the current moment according to the deceleration state of each axis and the starting time strategy of each axis; The energy saving determination unit is used to determine the energy saving at different starting moments according to the electric energy loss power at the current moment, the electric energy braking recovery power at the current moment and the end time of each axis movement.

7. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the multi-axis manipulator startup time planning method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a multi-axis manipulator startup time planning method according to any one of claims 1 to 5 when executed.

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