Motion path planning method, system, electronic device and storage medium

Abstract

The present application discloses a motion path planning method, system, electronic device and storage medium. The motion path planning method includes: obtaining multiple processing path segments; calculating the weighted Euclidean distance of each processing path segment; performing segment division processing and motion parameter calculation processing on the processing path segment according to a preset length threshold, preset motion parameter information and weighted Euclidean distance to obtain long segments, short segments, logical segments and motion parameter information of each segment; performing path planning processing on the motion parameter information of the long segments, short segments, logical segments and each segment through an S-type planning algorithm to obtain a multi-axis planning path. According to the solution of the embodiment of the present application, path planning can be performed based on weighted Euclidean distance, which is applicable to path planning of any multi-axis, has a wide range of applications and is universal.

Description

Technical Field

[0001] The present application relates to the field of numerical control technology, and in particular to a motion path planning method, system, electronic device and storage medium. Background Art

[0002] To further improve machining efficiency, most companies are upgrading their equipment. During this process, many companies are converting general-purpose CNC systems into specialized multi-axis systems, such as multi-Z-axis (xyz1z2z3), multi-Y-axis, 4-axis, 5-axis, 6-axis, or other irregularly configured systems. Maintaining the proper operation of specialized multi-axis systems is crucial in production and daily life.

[0003] In the related art, for special multi-axis equipment, the numerical control mode adopted is generally the traditional follow-up mode, that is, the xyz1 motion planning is used, and the other axes follow. However, due to the particularity of special equipment, the use of the follow-up mode has great limitations. For example, if the interference in the path (data truncation error) is considered, when the xyz1 path is very short and the paths of other axes are relatively long, the interference will seriously affect the speed planning, resulting in speed fluctuations, and the speed fluctuations will be amplified when reflected on the follow-up axis, making the processing effect of the special multi-axis equipment worse; and when the xyz1 path length is 0, the speed will have to be reduced to 0, and the planning method will be changed to plan the follow-up axis, which increases the difficulty of implementing the algorithm design. It can be seen that the application scope of the traditional follow-up mode is relatively limited. Summary of the Invention

[0004] The present application aims to solve, at least to some extent, one of the technical problems in the related art. To this end, the present application proposes a motion path planning method, system, electronic device, and storage medium that can perform path planning based on weighted Euclidean distance, is applicable to path planning for any multi-axis, and has a wide range of applications and universal applicability.

[0005] In the first aspect, an embodiment of the present application provides a motion path planning method, including: obtaining multiple processing path segments; calculating the weighted Euclidean distance of each processing path segment; performing segment division processing and motion parameter calculation processing on the processing path segments according to a preset length threshold, preset motion parameter information and the weighted Euclidean distance to obtain long line segments, short line segments, logical segments and motion parameter information of each line segment; performing path planning processing on the long line segments, the short line segments, the logical segments and the motion parameter information of each line segment through an S-type planning algorithm to obtain a multi-axis planned path.

[0006] The motion path planning method of the embodiment of the present application has at least the following beneficial effects: in the process of motion path planning for a multi-axis device, first obtain multiple processing path segments and calculate the weighted Euclidean distance of each processing path segment; then perform segment division processing and motion parameter calculation processing on the processing path segments according to the preset length threshold, preset motion parameter information and weighted Euclidean distance to obtain long segments, short segments, logical segments and motion parameter information of each segment; finally, perform path planning processing on the motion parameter information of the long segments, short segments, logical segments and each segment through the S-type planning algorithm to obtain a multi-axis planning path. The solution of the embodiment of the present application can perform path planning based on weighted Euclidean distance, is applicable to path planning of any multi-axis, has a wide range of applications, and is universal.

[0007] Optionally, in one embodiment of the present application, the processing path line segments are subjected to line segment division processing and motion parameter calculation processing according to the preset length threshold, preset motion parameter information and the weighted Euclidean distance to obtain long line segments, short line segments, logical segments and motion parameter information of each line segment, including: calculating and processing each processing path line segment according to the preset motion parameter information and the weighted Euclidean distance to obtain first motion parameter information of each processing path line segment; dividing the processing path line segments into the long line segments and the short line segments according to the preset length threshold and the weighted Euclidean distance; performing logical segment division processing and motion parameter adjustment processing according to the first motion parameter information and the weighted Euclidean distance to divide the short line segments into logical segments and obtain updated second motion parameter information of the short line segments, each logical segment including at least two consecutive short line segments; determining third motion parameter information of each logical segment based on the second motion parameter information of all the short line segments included in each logical segment.

[0008] Optionally, in one embodiment of the present application, the first motion parameter information includes the maximum speed of the line segment, the maximum acceleration of the line segment, the maximum jerk of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment.

[0009] Optionally, in one embodiment of the present application, the logical segment division processing and motion parameter adjustment processing are performed according to the first motion parameter information and the weighted Euclidean distance, the short line segments are divided into logical segments, and the updated second motion parameter information of the short line segments is obtained, including: for the continuous short line segments, the curvature speed limit value is obtained by calculation based on the maximum acceleration of the line segment and the weighted Euclidean distance; the curvature speed limit value is respectively minimum-operated with the maximum speed of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment, and the maximum speed of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment are updated to obtain the second motion parameter information; for the continuous short line segments, the maximum point and the minimum point in the turning speed of the starting point of the line segment and the turning speed of the ending point of the line segment of each short line segment are searched; the continuous short line segments are divided into multiple logical segments according to the maximum point and the minimum point, and each logical segment includes multiple continuous short line segments.

[0010] Optionally, in one embodiment of the present application, dividing the processing path line segments into the long line segments and the short line segments according to the preset length threshold and the weighted Euclidean distance includes: comparing and judging the weighted Euclidean distance of each processing path line segment with the preset length threshold; when the weighted Euclidean distance is greater than the preset length threshold, determining the corresponding processing path line segment as the long line segment; when the weighted Euclidean distance is less than or equal to the preset length threshold, determining the corresponding processing path line segment as the short line segment.

[0011] Optionally, in one embodiment of the present application, obtaining multiple processing path segments includes: obtaining multiple processing path points; obtaining multiple processing path segments based on the multiple processing path points, each processing path segment is determined by two adjacent processing path points.

[0012] Optionally, in one embodiment of the present application, the calculating of the weighted Euclidean distance of each processing path line segment includes: calculating and processing each processing path line segment according to a preset weight coefficient and the processing path points at both ends of each processing path line segment to obtain the weighted Euclidean distance.

[0013] In the second aspect, an embodiment of the present application provides a motion path planning system, including: a data acquisition module for acquiring multiple processing path segments; a parameter calculation module for calculating the weighted Euclidean distance of each processing path segment, and performing segment division processing and motion parameter calculation processing on the processing path segment according to a preset length threshold, preset motion parameter information and the weighted Euclidean distance to obtain long line segments, short line segments, logical segments and motion parameter information of each line segment; a path planning module for performing path planning processing on the motion parameter information of the long line segments, the short line segments, the logical segments and each line segment through an S-type planning algorithm to obtain a multi-axis planned path.

[0014] The motion path planning system of the embodiment of the present application has at least the following beneficial effects: in the process of motion path planning for a multi-axis device, the motion path planning system first obtains multiple processing path segments and calculates the weighted Euclidean distance of each processing path segment; then, according to a preset length threshold, preset motion parameter information and weighted Euclidean distance, the processing path segments are segmented and the motion parameter calculation is performed to obtain long segments, short segments, logical segments and motion parameter information of each segment; finally, the long segments, short segments, logical segments and motion parameter information of each segment are path planned by an S-type planning algorithm to obtain a multi-axis planning path. The solution of the embodiment of the present application can perform path planning based on weighted Euclidean distance, is applicable to path planning of any multi-axis, has a wide range of applications, and is universal.

[0015] In a third aspect, an embodiment of the present application provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the motion path planning method as described in the first aspect when executing the computer program.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the motion path planning method as described in the first aspect.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0019] Figure 1This is a module diagram of a motion path planning system provided by one embodiment of the present application;

[0020] Figure 2 This is a flow chart of a motion path planning method provided by one embodiment of the present application;

[0021] Figure 3 yes Figure 2 Flow chart of the specific method of step S230;

[0022] Figure 4 yes Figure 3 Flow chart of the specific method of step S330;

[0023] Figure 5 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0025] It should be noted that although the system diagrams illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the system or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0026] The present application proposes a motion path planning method, system, electronic device and computer-readable storage medium. In the process of motion path planning for a multi-axis device, a plurality of processing path segments are first obtained, and the weighted Euclidean distance of each processing path segment is calculated; then, according to a preset length threshold, preset motion parameter information and weighted Euclidean distance, the processing path segments are segmented and the motion parameter calculation is performed to obtain long segments, short segments, logical segments and motion parameter information of each segment; finally, the long segments, short segments, logical segments and motion parameter information of each segment are processed by an S-type planning algorithm to obtain a multi-axis planning path. Each axis of the multi-axis device can move according to the multi-axis planning path, and each axis cooperates with each other for processing, which is conducive to improving production and processing efficiency. The solution of the embodiment of the present application can perform path planning based on weighted Euclidean distance, is applicable to path planning of any multi-axis, has a wide range of applications and is universal.

[0027] The embodiments of the present application are further described below with reference to the accompanying drawings.

[0028] Reference Figure 1 , Figure 1 1 is a module diagram of a motion path planning system provided by an embodiment of the present application. The motion path planning system includes: a data acquisition module 110, a parameter calculation module 120, and a path planning module 130, and the parameter calculation module 120 is in communication with the data acquisition module 110 and the path planning module 130 respectively.

[0029] Among them, the data acquisition module 110 is used to obtain multiple processing path segments; specifically, the data acquisition module 110 is used to obtain multiple processing path points, and then obtain multiple processing path segments based on the multiple processing path points, each processing path segment is determined by two adjacent processing path points.

[0030] The parameter calculation module 120 is used to calculate the weighted Euclidean distance of each processing path segment, and perform segmentation processing and motion parameter calculation processing on the processing path segment based on the preset length threshold, preset motion parameter information and weighted Euclidean distance to obtain long line segments, short line segments, logical segments and motion parameter information of each line segment.

[0031] The path planning module 130 is used to perform path planning processing on the motion parameter information of the long line segments, short line segments, logical segments and each line segment by using an S-type planning algorithm to obtain a multi-axis planned path.

[0032] According to the motion path planning system provided by an embodiment of the present application, in the process of motion path planning for a multi-axis device, first, the data acquisition module 110 obtains multiple processing path segments and sends them to the parameter calculation module 120; then, the parameter calculation module 120 receives multiple processing path segments and calculates the weighted Euclidean distance of each processing path segment; then, according to the preset length threshold, preset motion parameter information and weighted Euclidean distance, the processing path segments are segmented and the motion parameter calculation is performed to obtain long segments, short segments, logical segments and motion parameter information of each segment; finally, the path planning module 130 performs path planning processing on the motion parameter information of the long segments, short segments, logical segments and each segment through the S-type planning algorithm to obtain a multi-axis planning path, and each axis of the multi-axis device can move according to the multi-axis planning path, and each axis cooperates with each other for processing, which is conducive to improving production and processing efficiency. The solution of the embodiment of the present application can perform path planning based on weighted Euclidean distance, is applicable to path planning of any multi-axis, has a wide range of applications, and is universal.

[0033] The device function module schematics and application scenarios described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of device function modules and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems. Figure 1 The system functional modules shown in the figure do not constitute a limitation on the embodiments of the present application, and may include more or fewer modules than shown in the figure, or a combination of certain modules, or different combination module settings.

[0034] Reference Figure 2 , Figure 2 This is a flow chart of a motion path planning method provided by an embodiment of the present application; the motion path planning method can be applied to Figure 1 In the motion path planning system shown, the motion path planning method includes but is not limited to step S210, step S220, step S230 and step S240.

[0035] Step S210: Acquire multiple processing path segments.

[0036] In this step, the motion path planning system obtains multiple processing path segments, and the obtained processing path segments are the basis for path planning.

[0037] In one embodiment of the present application, the step of obtaining multiple processing path segments includes: obtaining multiple processing path points; obtaining multiple processing path segments based on the multiple processing path points, each processing path segment is determined by two adjacent processing path points.

[0038] Assume that each processing path point is represented by a vector p, and assume that p1 = [x1 y1 z1…] T is a column vector consisting of all current axis positions, p2=[x2 y2 z2…] T is a column vector consisting of the next position of all axes. It can be understood that p1→p2 represents a machining path segment from p1 to p2. Other machining path segments can also be represented in this way, which are not listed here one by one.

[0039] Based on this, specifically, the motion path planning system receives the processing path point p i (i=1,2,3,…), define the processing path segment set S={s1,s2,s3,…}, where s i =p i →p i+1 Indicates that from the processing path point p i Run processing path point p i+1 line segment.

[0040] Step S220: Calculate the weighted Euclidean distance of each processing path segment.

[0041] In this step, the motion path planning system calculates the weighted Euclidean distance of each processing path segment.

[0042] In one embodiment of the present application, calculating the weighted Euclidean distance of each processing path segment includes: calculating each processing path segment according to a preset weight coefficient and processing path points at both ends of each processing path segment to obtain the weighted Euclidean distance.

[0043] Specifically, for example, the preset weight coefficient is W. For the processing path segment p1→p2, the weighted Euclidean distance of the processing path segment is calculated as:

[0044] d=||W(p2-p1)||

[0045] Where W = [w x w y w z …] is a row vector of preset weight coefficients for all axes, which is an adjustable variable. Generally, w x =1; Represents the 2-norm. Based on this, according to formula d i =||W(p i+1 -p i )||Calculate all processing path segments s i The weighted Euclidean distance d i .

[0046] Step S230: performing segment division and motion parameter calculation on the machining path segments according to the preset length threshold, preset motion parameter information and weighted Euclidean distance to obtain long segments, short segments, logical segments and motion parameter information of each segment.

[0047] In this step, the motion path planning system performs segment division and motion parameter calculation on the processing path segments according to the preset length threshold, preset motion parameter information and weighted Euclidean distance, and obtains long segments, short segments, logical segments and motion parameter information of each segment, so as to facilitate the subsequent use of the S-type planning algorithm for path planning.

[0048] Step S240: performing path planning processing on the long line segments, short line segments, logical segments and motion parameter information of each line segment by using an S-type planning algorithm to obtain a multi-axis planning path.

[0049] In this step, the motion path planning system performs path planning processing on the motion parameter information of long line segments, short line segments, logical segments and each line segment through the S-type planning algorithm to obtain a multi-axis planning path. Each long line segment, short line segment and logical segment has corresponding motion parameter information. Based on each long line segment, short line segment, logical segment and its corresponding motion parameter information, path planning processing is performed to obtain a multi-axis planning path. In the multi-axis planning path obtained by planning based on Euclidean distance, the actual speed of each axis after planning is smaller than the planned speed, which reduces the speed fluctuation of the follower axis and solves the problem of excessive speed fluctuation of a follower axis that may occur in the follower mode. It should be noted that the specific implementation content of the S-type planning algorithm is not described in detail in this application.

[0050] Through steps S210 to S240, in the process of motion path planning for a multi-axis device, first obtain multiple processing path segments and calculate the weighted Euclidean distance of each processing path segment; then, based on a preset length threshold, preset motion parameter information and weighted Euclidean distance, perform segment division processing and motion parameter calculation processing on the processing path segments to obtain long segments, short segments, logical segments and motion parameter information of each segment; finally, perform path planning processing on the long segments, short segments, logical segments and motion parameter information of each segment through an S-type planning algorithm to obtain a multi-axis planning path. The solution of the embodiment of the present application can perform path planning based on weighted Euclidean distance, is applicable to path planning of any multi-axis, has a wide range of applications, and is universal.

[0051] Reference Figure 3 , Figure 3 yes Figure 2 Flowchart of the specific method of step S230 in step S230. Step S230: Performing segmentation and motion parameter calculation on the processing path segments based on a preset length threshold, preset motion parameter information, and weighted Euclidean distance to obtain long segments, short segments, logical segments, and motion parameter information for each segment, including but not limited to steps S310, S320, S330, and S340.

[0052] Step S310: Calculate and process each processing path segment according to preset motion parameter information and weighted Euclidean distance to obtain first motion parameter information of each processing path segment.

[0053] In this step, the motion path planning system calculates and processes each processing path segment based on the preset motion parameter information and weighted Euclidean distance to obtain first motion parameter information for each processing path segment. In one embodiment of the present application, the first motion parameter information includes the maximum speed of the segment, the maximum acceleration of the segment, the maximum jerk of the segment, the turning speed at the starting point of the segment, and the turning speed at the end point of the segment.

[0054] In one embodiment of the present application, the preset motion parameter information and the preset length threshold are both preset by the motion path planning system, wherein the preset length threshold is L, and the preset motion parameter information includes:

[0055] Maximum speed of each axis v max =[v x,max v y,max v z,max …] T ;

[0056] Maximum acceleration of each axis a max =[a x,max a y,max a z,max …] T ;

[0057] Maximum jerk of each axis j max =[j x,max j y,max j z,max …] T ;

[0058] The preset motion parameter information also includes: the maximum processing speed V given on the planned path max , Maximum machining acceleration A max , Maximum machining acceleration J max Based on this, the processing path segment p1→p2 is calculated and processed to obtain the maximum segment speed, maximum segment acceleration, and maximum segment jerk of the processing path segment p1→p2:

[0059]

[0060]

[0061]

[0062] Among them, the weighted Euclidean distance d = ||W(p2-p1)||, Represents the i-th element, such as [v max ]2=v y,max .

[0063] It is understandable that the actual processing path is more complex and there will be path turning and other phenomena. Assuming the processing path p1→p2→p3, according to the definition of Euclidean distance, the movement of vector point p1 to vector point p2 is a multi-dimensional linear motion. Similarly, the movement of vector point p2 to vector point p3 is also a multi-dimensional linear motion. Therefore, the two linear motion paths have a turning phenomenon at vector point p2. Assuming that the maximum single-axis turning speed change given by the motion path planning system is Δv max =[Δv x,maxΔv y,max Δv z,max …] T , that is, the preset motion parameter information also includes: the maximum speed change of single-axis turning is Δv max =[Δv x,max Δv y,max Δv z,max …] T Based on this, the turning speed on the planned path can be calculated using the following formula:

[0064]

[0065] Among them, the parameters Specifically, for all processing path segments s i Calculate the turning speed at the starting point of a line segment And the turning speed at the end point of the line segment If it is the first section, the turning speed at the starting point is Set to 0, if it is the last segment, the turning speed at the end point Set to 0; calculate the turning speed of the starting point of other processing path segments And the turning speed at the end point of the line segment When , the formula can be used:

[0066]

[0067] Calculate, where the parameters

[0068] Step S320: Divide the processing path segments into long segments and short segments according to a preset length threshold and a weighted Euclidean distance.

[0069] Through step S320 , the motion path planning system can divide the processing path segments into long segments and short segments according to the preset length threshold and the weighted Euclidean distance.

[0070] Specifically, in one embodiment of the present application, the weighted Euclidean distance of each processing path segment is compared with a preset length threshold; if the weighted Euclidean distance is greater than the preset length threshold, the corresponding processing path segment is determined as a long segment; if the weighted Euclidean distance is less than or equal to the preset length threshold, the corresponding processing path segment is determined as a short segment. i Compare d with the preset distance threshold L and i >L is classified as a long line segment, and the others are classified as short line segments, so that it is easy to further divide the short line segments.

[0071] Step S330: Perform logical segment division processing and motion parameter adjustment processing according to the first motion parameter information and weighted Euclidean distance, divide the short line segment into logical segments, and obtain updated second motion parameter information of the short line segment, each logical segment includes at least two consecutive short line segments.

[0072] Step S340: determining the third motion parameter information of each logical segment according to the second motion parameter information of all short line segments included in each logical segment.

[0073] Through steps S330 and S340, the motion path planning system divides the short line segment into logical segments and obtains updated second motion parameter information for each short line segment. Each logical segment includes at least two consecutive short line segments. The system then determines third motion parameter information for each logical segment based on the second motion parameter information for all short line segments included in each logical segment. Dividing the logical segments and calculating their corresponding third motion parameter information enriches the parameter information, making multi-axis motion planning more flexible and effective.

[0074] Reference Figure 4 , Figure 4 yes Figure 3 Flowchart of the specific method of step S330 in step S330. Step S330: Performing logical segment division and motion parameter adjustment based on the first motion parameter information and weighted Euclidean distance to divide the short line segment into logical segments and obtain updated second motion parameter information for the short line segment, wherein each logical segment includes at least two consecutive short lines, including but not limited to steps S410, S420, S430, and S440.

[0075] Step S410: For continuous short line segments, a curvature speed limit value is obtained by performing calculation based on the maximum acceleration of the line segment and the weighted Euclidean distance.

[0076] In this step, for continuous short line segments, the motion path planning system calculates and processes the curvature speed limit value based on the maximum acceleration of the line segment and the weighted Euclidean distance.

[0077] It is understandable that when high-precision machining of a curve is often performed as a given linear path (G1) is shorter, and the shorter the path length is, when the formula in step S310 is used to calculate the turning speed V cor When the calculation result becomes larger and larger, it will not be able to limit the turning speed. Therefore, for this short line segment, it is necessary to use the multi-axis curvature speed limit value to calculate the maximum speed. Assuming that the processing path line segment p1→p2→p3, where p1→p2 and p2→p3 are both short line segments, the curvature speed limit value is calculated according to the following formula:

[0078]

[0079] in,

[0080] Specifically, for the short line segment s i , if there are more than two consecutive short line segments, then according to the formula: Calculate curvature speed limit

[0081] Step S420: performing a minimum operation on the curvature speed limit value and the maximum speed of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment, respectively, to update the maximum speed of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment to obtain the second motion parameter information.

[0082] In this step, the motion path planning system performs a minimum operation on the curvature speed limit value obtained in step S410 and the maximum speed of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment in the first motion parameter information, updates the maximum speed of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment, and obtains the second motion parameter information.

[0083] Specifically, the motion path planning system modifies and updates the maximum speed of the line segment, the turning speed of the line segment starting point, and the turning speed of the line segment ending point in the first motion parameter information of the short line segment according to the following formula:

[0084]

[0085]

[0086]

[0087] Then, the second motion parameter information of the short line segment is obtained. The updated second motion parameter information can make the planned path more effective, and is also beneficial for improving the accuracy of the division when dividing the short line segment into logical segments, and is also beneficial for optimizing the motion planning path.

[0088] Step S430: For the continuous short line segments, find the maximum and minimum points of the turning speed at the starting point and the turning speed at the ending point of each short line segment.

[0089] Step S440: Divide the continuous short line segments into multiple logical segments according to the maximum value points and the minimum value points, each logical segment includes multiple continuous short line segments.

[0090] Through steps S430 and S440, the motion path planning system searches for the maximum and minimum points in the turning speed at the starting point and the ending point of each continuous short line segment. Specifically, based on the second motion parameter information, the motion path planning system searches for the maximum and minimum points in the turning speed at the starting point and the ending point of each continuous short line segment to facilitate logical segmentation. The motion path planning system then divides the continuous short line segment into multiple logical segments based on the maximum and minimum points, each logical segment including multiple continuous short line segments.

[0091] Specifically, for the continuous short line segment set S i ={s i ,s i+1 ,s i+2 ,…}, find all s j (j=i,i+1,i+2,…), find the maximum and minimum points of the starting and ending turning speeds, and use them as the boundaries to divide S i Divide into multiple logical segments Right now The logical segment The speed of the end point of the last segment is a maximum or minimum point. It can be understood that when the speed of the end point of a logical segment is a minimum and the speed of the starting point is a maximum, the motion state of the logical segment is deceleration; when the speed of the end point of a logical segment is a maximum and the speed of the starting point is a minimum, the motion state of the logical segment is acceleration.

[0092] In one embodiment of the present application, after dividing the logical segments, step S340 is performed: determining the third motion parameter information of each logical segment based on the second motion parameter information of all short line segments included in each logical segment. Specifically, the third motion parameter information includes: the maximum speed of the logical segment Maximum acceleration of logic segment Maximum jerk of logic segment Turning speed at the start point of the logic segment and the turning speed at the end point Specifically, the logical segments can be calculated according to the following formulas: Maximum speed of the logic segment Maximum acceleration of logic segment Maximum jerk of logic segment Turning speed at the start point of the logic segment and the turning speed at the end point

[0093]

[0094]

[0095]

[0096]

[0097]

[0098] Based on the above method steps, the line segments in the processing path segment set S are divided into logical segments composed of short line segments, short line segments, and long line segments. A series of calculations are performed based on Euclidean distance to obtain the motion parameter information corresponding to each logical segment, short line segment, and long line segment. Finally, the S-type planning algorithm is used to plan the motion path. After completing the motion path planning, a multi-axis motion path is obtained. This method uses vectors when planning the path, involves multiple axes, and is suitable for path planning of any multi-axis. It has a wide range of applications and is universal.

[0099] Reference Figure 5 , Figure 5 The electronic device 500 of the embodiment of the present application includes one or more processors 510 and a memory 520. Figure 5 In the example, a processor 510 and a memory 520 are used. The processor 510 and the memory 520 can be connected via a bus or other means. Figure 5 The bus connection is taken as an example.

[0100] The memory 520 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory 520 may include a high-speed random access memory and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 520 may optionally include a memory 520 remotely located relative to the processor 510, and these remote memories 520 may be connected to the electronic device 500 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0101] Those skilled in the art will understand that Figure 5 The device structure shown in the figure does not constitute a limitation on the electronic device 500, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0102] The non-transient software program and instructions required to implement the motion path planning method 500 in the above embodiment are stored in the memory 520. When executed by the processor 510, the motion path planning method 500 in the above embodiment is executed, for example, the above-described Figure 2 、 Figure 3 and Figure 4 The method steps shown in .

[0103] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0104] In addition, an embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by one or more processors, for example, by one of the processors 510, so that the one or more processors 510 can execute the control method in the above method embodiment, for example, execute the above-described Figure 2 、 Figure 3 and Figure 4 The method steps shown in .

[0105] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media is included in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data) and is volatile and non-volatile, removable, and non-removable. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage, or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0106] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Various modifications can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features of the embodiments can be combined with each other unless there is a conflict.

Claims

1. A motion path planning method, characterized in that: include: Get multiple processing path segments; Calculate the weighted Euclidean distance of each machining path segment; Performing segment division processing and motion parameter calculation processing on the processing path line segments according to a preset length threshold, preset motion parameter information and the weighted Euclidean distance to obtain long line segments, short line segments, logical segments and motion parameter information of each line segment; Performing path planning processing on the long line segment, the short line segment, the logic segment, and the motion parameter information of each line segment using an S-type planning algorithm to obtain a multi-axis planning path; The preset motion parameter information includes: the maximum speed of each axis; the maximum acceleration of each axis; the maximum jerk of each axis; the maximum processing speed, maximum processing acceleration, and maximum processing jerk given on the planned path; a long line segment refers to a corresponding processing path line segment whose weighted Euclidean distance is greater than a preset length threshold; a short line segment refers to a corresponding processing path line segment whose weighted Euclidean distance is less than or equal to the preset length threshold; The logical segments are obtained by performing logical segment division processing and motion parameter adjustment processing on the short line segments according to the first motion parameter information and the weighted Euclidean distance; The first motion parameter information of each processing path segment includes: the maximum speed of the segment, the maximum acceleration of the segment, the maximum jerk of the segment, the turning speed at the starting point of the segment, and the turning speed at the end point of the segment; wherein the turning speed at the starting point of the first processing path segment is set to 0, and the turning speed at the end point of the last processing path segment is set to 0; The logic segment division processing and motion parameter adjustment processing include: for continuous short line segments, calculating and processing the curvature speed limit value based on the maximum acceleration of the line segment and the weighted Euclidean distance; performing a minimum operation on the curvature speed limit value and the maximum speed of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment, respectively, updating the maximum speed of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment to obtain second motion parameter information; for continuous short line segments, searching for the maximum and minimum points in the turning speed of the starting point of the line segment and the turning speed of the ending point of each short line segment; dividing the continuous short line segments into multiple logic segments according to the maximum and minimum points, and each logic segment includes multiple continuous short line segments.

2. The motion path planning method according to claim 1, characterized in that: The processing path line segments are segmented and the motion parameters are calculated based on the preset length threshold, the preset motion parameter information and the weighted Euclidean distance to obtain long line segments, short line segments, logical segments and motion parameter information of each line segment, including: Calculating and processing each of the processing path line segments according to the preset motion parameter information and the weighted Euclidean distance to obtain first motion parameter information of each of the processing path line segments; Dividing the processing path line segment into the long line segment and the short line segment according to the preset length threshold and the weighted Euclidean distance; performing a logical segment division process and a motion parameter adjustment process according to the first motion parameter information and the weighted Euclidean distance, dividing the short line segment into logical segments, and obtaining updated second motion parameter information of the short line segment, wherein each logical segment includes at least two consecutive short line segments; The third motion parameter information of each logical segment is determined according to the second motion parameter information of all the short line segments included in each logical segment.

3. The motion path planning method according to claim 2, characterized in that: The dividing the processing path line segments into the long line segments and the short line segments according to the preset length threshold and the weighted Euclidean distance includes: Comparing and judging the weighted Euclidean distance of each processing path segment with the preset length threshold; When the weighted Euclidean distance is greater than the preset length threshold, determining the corresponding processing path segment as the long segment; When the weighted Euclidean distance is less than or equal to the preset length threshold, the corresponding processing path line segment is determined as the short line segment.

4. The motion path planning method according to claim 1, wherein: The obtaining of multiple processing path segments includes: Get multiple processing path points; A plurality of processing path line segments are obtained according to the plurality of processing path points, and each processing path line segment is determined by two adjacent processing path points.

5. The motion path planning method according to claim 4, characterized in that: The calculation of the weighted Euclidean distance of each processing path segment includes: The weighted Euclidean distance is obtained by calculating each processing path segment according to a preset weight coefficient and the processing path points at both ends of each processing path segment.

6. A motion path planning system, characterized in that: include: A data acquisition module, used to acquire multiple processing path segments; a parameter calculation module, configured to calculate the weighted Euclidean distance of each machining path segment, perform segmentation processing and motion parameter calculation processing on the machining path segment according to a preset length threshold, preset motion parameter information, and the weighted Euclidean distance, and obtain long segments, short segments, logical segments, and motion parameter information of each segment; a path planning module, configured to perform path planning processing on the long line segment, the short line segment, the logic segment, and the motion parameter information of each line segment using an S-type planning algorithm to obtain a multi-axis planned path; The preset motion parameter information includes: the maximum speed of each axis; the maximum acceleration of each axis; the maximum jerk of each axis; the maximum processing speed, maximum processing acceleration, and maximum processing jerk given on the planned path; a long line segment refers to a corresponding processing path line segment whose weighted Euclidean distance is greater than a preset length threshold; a short line segment refers to a corresponding processing path line segment whose weighted Euclidean distance is less than or equal to the preset length threshold; The logical segments are obtained by performing logical segment division processing and motion parameter adjustment processing on the short line segments according to the first motion parameter information and the weighted Euclidean distance; The first motion parameter information of each processing path segment includes: the maximum speed of the segment, the maximum acceleration of the segment, the maximum jerk of the segment, the turning speed at the starting point of the segment, and the turning speed at the end point of the segment; wherein the turning speed at the starting point of the first processing path segment is set to 0, and the turning speed at the end point of the last processing path segment is set to 0; The logic segment division processing and motion parameter adjustment processing include: for continuous short line segments, calculating and processing the curvature speed limit value based on the maximum acceleration of the line segment and the weighted Euclidean distance; performing a minimum operation on the curvature speed limit value and the maximum speed of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment, respectively, updating the maximum speed of the line segment, the turning speed of the starting point of the line segment, and the turning speed of the ending point of the line segment to obtain second motion parameter information; for continuous short line segments, searching for the maximum and minimum points in the turning speed of the starting point of the line segment and the turning speed of the ending point of each short line segment; dividing the continuous short line segments into multiple logic segments according to the maximum and minimum points, and each logic segment includes multiple continuous short line segments.

7. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the motion path planning method according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the motion path planning method according to any one of claims 1 to 5.

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