A mover motion planning method and system, electronic device, and storage medium

Abstract

This application provides a motion planning method and system for a moving vehicle, an electronic device, and a storage medium, belonging to the field of maglev transportation. The method includes: acquiring a preliminary motion curve of the moving vehicle; determining the termination position of the moving vehicle based on the preliminary motion curve; predicting the motion path based on the termination position to obtain the predicted motion path length corresponding to the preliminary motion curve; obtaining the motion position deviation based on the predicted motion path length and the target motion path length of the moving vehicle; if the motion position deviation indicates that the predicted motion path length is less than the target motion path length, determining the position of a supplementary path; generating a motion path based on the preliminary motion curve and the position of the supplementary path to obtain a supplementary motion path; and generating the target motion curve of the moving vehicle based on the supplementary motion path and the preliminary motion curve. This application can improve the accuracy and efficiency of the moving vehicle's motion, thereby reducing the probability of position deviation and road congestion.

Description

Technical Field

[0001] This application relates to the field of magnetic levitation transportation, and more particularly to a motion planning method and system for a moving part, electronic equipment, and storage medium. Background Technology

[0002] The mover, as the moving component of the entire maglev transport system, is equipped with a permanent magnet plate. By controlling the coil on the transport module, the simulated translational magnetic field generates thrust on the permanent magnet plate on the mover. The thrust is then generated by the rollers on the mover acting on the guide rail on the module, enabling the mover to move along the guide rail.

[0003] Currently, the commonly used speed control algorithms for mover motion planning are linear and exponential. However, these two methods cause abrupt changes in the mover's acceleration when controlling its start and stop, resulting in impacts and uneven speed transitions. Maglev transport aims for high-precision, high-efficiency transportation, requiring rapid response; the mover must reach a given speed in a very short time and stop quickly and accurately at the target station while operating at high speed. Therefore, the two methods mentioned above cannot meet the requirements of maglev transport. Summary of the Invention

[0004] The main objective of this application is to propose a motion planning method and system for a moving part, an electronic device, and a storage medium, which aims to improve the accuracy and efficiency of the moving part, thereby reducing the probability of positional deviation and road congestion.

[0005] To achieve the above objectives, a first aspect of this application proposes a motion planning method for a moving part, the method comprising:

[0006] Obtain the initial motion curve of the mover;

[0007] Based on the preliminary motion curve, the termination position of the motion of the mover is determined;

[0008] Based on the motion termination position, the motion path is predicted to obtain the predicted motion path length corresponding to the preliminary motion curve;

[0009] Based on the predicted motion path length and the target motion path length of the mover, the motion position deviation is obtained;

[0010] If the motion position deviation indicates that the predicted motion path length is less than the target motion path length, then the position of the supplementary path is determined;

[0011] Based on the positions of the preliminary motion curve and the supplementary path, a motion path is generated to obtain the supplementary motion path;

[0012] Based on the supplementary motion path and the preliminary motion curve, a target motion curve for the mover is generated, which is used to indicate that the mover has moved to a target position.

[0013] In some embodiments, determining the termination position of the motion of the mover based on the preliminary motion curve includes:

[0014] Based on the preliminary motion curve, the first jerk, first acceleration, first velocity, first length, and first time of the mover are determined;

[0015] The motion termination position of the mover is determined based on the first jerk, the first acceleration, the first velocity, the first length, and the first time.

[0016] In some embodiments, the step of predicting the motion path based on the motion termination position to obtain the predicted motion path length corresponding to the preliminary motion curve includes:

[0017] Determine the starting position of the motion of the mover;

[0018] Based on the distance difference between the starting position and the ending position of the motion, the predicted motion path length corresponding to the preliminary motion curve is obtained.

[0019] In some embodiments, generating a supplementary motion path based on the positions of the initial motion curve and the supplementary path includes:

[0020] If the location of the supplementary path is determined to be before the initial motion curve, then the initial velocity of the initial motion curve is obtained;

[0021] The supplementary time is obtained by dividing the motion position deviation by the initial velocity, wherein the motion position deviation is the dividend and the initial velocity is the divisor;

[0022] The motion path is generated based on the supplementary time and the initial velocity to obtain the supplementary motion path.

[0023] In some embodiments, generating the target motion curve of the mover based on the supplementary motion path and the preliminary motion curve includes:

[0024] Based on the supplementary motion path, a target uniform velocity curve is generated;

[0025] Based on a predetermined splicing order, the target uniform velocity curve and the preliminary motion curve are spliced ​​together to obtain the target motion curve.

[0026] In some embodiments, the supplementary motion path includes a first supplementary path and a second supplementary path. The step of generating the supplementary motion path based on the initial motion curve and the positions of the supplementary paths includes:

[0027] If the location of the supplementary path is determined to be within the initial motion curve, then the initial motion curve is subjected to uniform velocity segment detection;

[0028] If it is determined that the preliminary motion curve does not contain a uniform velocity segment, then a path is generated based on the final velocity of the acceleration segment of the preliminary motion curve to obtain the first supplementary path.

[0029] If it is determined that the preliminary motion curve contains a uniform velocity segment, then a path is generated based on the velocity of the uniform velocity segment of the preliminary motion curve to obtain the second supplementary path;

[0030] The step of generating the target motion curve of the mover based on the supplementary motion path and the preliminary motion curve includes:

[0031] If it is determined that the preliminary motion curve does not contain a uniform velocity segment, then a first uniform velocity curve is generated based on the first supplementary path, and the first uniform velocity curve is inserted after the acceleration segment of the preliminary motion curve to obtain the target motion curve.

[0032] If it is determined that the preliminary motion curve contains a uniform speed segment, then the segment extension time is determined based on the second supplementary path, and the uniform speed segment of the preliminary motion curve is extended based on the segment extension time to obtain the target motion curve.

[0033] In some embodiments, the preliminary motion curve is generated in the following manner:

[0034] Motion path planning is performed for the moving part to obtain preliminary path planning data, which includes at least one of acceleration segment planning data, constant speed segment planning data, and deceleration segment planning data.

[0035] Based on the preliminary path planning data, the preliminary motion curve is generated.

[0036] To achieve the above objectives, a second aspect of this application proposes a motion planning system for a moving part, the system comprising:

[0037] The preliminary motion curve acquisition module is used to acquire the preliminary motion curve of the mover;

[0038] The motion termination position acquisition module is used to determine the motion termination position of the mover based on the preliminary motion curve.

[0039] The predicted motion path length acquisition module is used to predict the motion path based on the motion termination position and obtain the predicted motion path length corresponding to the preliminary motion curve.

[0040] The motion position deviation acquisition module is used to obtain the motion position deviation based on the predicted motion path length and the target motion path length of the mover;

[0041] The position determination module is used to determine the position of the supplementary path if the motion position deviation indicates that the predicted motion path length is less than the target motion path length.

[0042] The supplementary motion path acquisition module is used to generate a motion path based on the position of the preliminary motion curve and the supplementary path, thereby obtaining a supplementary motion path.

[0043] The target motion curve acquisition module is used to generate the target motion curve of the mover based on the supplementary motion path and the preliminary motion curve. The target motion curve is used to indicate that the mover moves to the target position.

[0044] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect.

[0045] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0046] The present application proposes a motion planning method, system, electronic device, and storage medium that acquires a preliminary motion curve of a mover; determines the mover's termination position based on the preliminary motion curve; predicts the motion path based on the termination position to obtain the predicted motion path length corresponding to the preliminary motion curve, thus enabling the acquisition of the predicted motion path length from the preliminary motion curve. Further, based on the predicted motion path length and the mover's target motion path length, a motion position deviation is obtained, which determines whether the mover can reach the target position according to the preliminary motion curve. Further, if the motion position deviation indicates that the predicted motion path length is less than the target motion path length, the location of a supplementary path is determined; a motion path is generated based on the preliminary motion curve and the location of the supplementary path, resulting in a supplementary motion path; and the target motion curve of the mover is generated based on the supplementary motion path and the preliminary motion curve. This method can improve the accuracy and efficiency of the mover's motion by adjusting the preliminary motion curve, thereby reducing the probability of position deviation and road congestion. Attached Figure Description

[0047] Figure 1 This is a flowchart of the motion planning method for a moving part provided in an embodiment of this application;

[0048] Figure 2 This is a flowchart illustrating the generation of the preliminary motion curve provided in the embodiments of this application;

[0049] Figure 3 yes Figure 1 The flowchart of step S102 in the document;

[0050] Figure 4 yes Figure 1 The flowchart of step S103 in the process;

[0051] Figure 5 yes Figure 1 The flowchart of step S106 in the process;

[0052] Figure 6 yes Figure 1 The flowchart of step S107 in the process;

[0053] Figure 7 This is a flowchart of generating a supplementary motion path and a target motion curve provided in another embodiment of this application;

[0054] Figure 8 This is a schematic diagram of the motion planning system for a moving part provided in an embodiment of this application;

[0055] Figure 9 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0057] It should be noted that although functional modules are divided in the system diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0059] The mover, as the moving component of the entire maglev transport system, is equipped with a permanent magnet plate. By controlling the coil on the transport module, the simulated translational magnetic field generates thrust on the permanent magnet plate on the mover. The thrust is then generated by the rollers on the mover acting on the guide rail on the module, enabling the mover to move along the guide rail.

[0060] Currently, the commonly used speed control algorithms for mover motion planning are linear and exponential. However, these two methods cause abrupt changes in the mover's acceleration when controlling its start and stop, resulting in impacts and uneven speed transitions. Maglev transport aims for high-precision, high-efficiency transportation, requiring rapid response; the mover must reach a given speed in a very short time and stop quickly and accurately at the target station while operating at high speed. Therefore, the two methods mentioned above cannot meet the requirements of maglev transport.

[0061] Therefore, this application proposes a motion planning method and system for moving parts, an electronic device and a storage medium, aiming to improve the accuracy and efficiency of moving parts, thereby reducing the probability of positional deviation and road congestion.

[0062] The motion planning method, system, electronic device, and storage medium provided in this application are specifically described through the following embodiments. First, the motion planning method in this application is described.

[0063] The motion planning method for a moving part provided in this application relates to the field of magnetic levitation transportation. This motion planning method can be applied to a terminal, a server, or software running on either a terminal or a server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application implementing the motion planning method, but is not limited to the above forms.

[0064] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0065] It should be noted that in various specific embodiments of this application, when processing data related to the identity or characteristics of an object, such as object information, object behavior data, object historical data, and object location information, the object's permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require obtaining sensitive personal information of an object, separate permission or consent from the object is obtained through pop-ups or redirection to a confirmation page. Only after obtaining the object's separate permission or consent is the necessary object-related data required for the proper functioning of the embodiments of this application obtained.

[0066] Figure 1 This is an optional flowchart of the motion planning method for a moving part provided in the embodiments of this application. Figure 1 The method may include, but is not limited to, steps S101 to S107:

[0067] Step S101: Obtain the initial motion curve of the mover;

[0068] Step S102: Based on the preliminary motion curve, determine the termination position of the motion of the mover;

[0069] Step S103: Based on the motion termination position, predict the motion path to obtain the predicted motion path length corresponding to the preliminary motion curve;

[0070] Step S104: Based on the predicted motion path length and the target motion path length of the mover, the motion position deviation is obtained;

[0071] Step S105: If the predicted motion path length, which indicates a deviation in motion position, is less than the target motion path length, then determine the location of the supplementary path.

[0072] Step S106: Based on the position of the preliminary motion curve and the supplementary path, a motion path is generated to obtain the supplementary motion path;

[0073] Step S107: Based on the supplementary motion path and the preliminary motion curve, generate the target motion curve of the mover. The target motion curve is used to indicate that the mover has moved to the target position.

[0074] Steps S101 to S107 of this embodiment involve obtaining a preliminary motion curve of the mover; determining the mover's termination position based on the preliminary motion curve; predicting the motion path based on the termination position to obtain the predicted motion path length corresponding to the preliminary motion curve, thus enabling the acquisition of the predicted motion path length through the preliminary motion curve. Further, based on the predicted motion path length and the mover's target motion path length, a motion position deviation is obtained, which determines whether the mover can reach the target position according to the preliminary motion curve. Further, if the motion position deviation indicates that the predicted motion path length is less than the target motion path length, the position of a supplementary path is determined; a motion path is generated based on the preliminary motion curve and the position of the supplementary path to obtain the supplementary motion path; and the target motion curve of the mover is generated based on the supplementary motion path and the preliminary motion curve. This method can improve the accuracy and efficiency of the mover's movement by adjusting the preliminary motion curve, thereby reducing the probability of position deviation and road congestion.

[0075] First, step S101 will be described.

[0076] Please see Figure 2 In some embodiments, prior to step S101, the motion planning method for the moving part includes generating a preliminary motion curve. The step of generating the preliminary motion curve may include, but is not limited to, steps S201 to S202:

[0077] Step S201: Perform motion path planning for the mover to obtain preliminary path planning data. The preliminary path planning data includes at least one of acceleration segment planning data, constant speed segment planning data, and deceleration segment planning data.

[0078] Step S202: Generate preliminary motion curves based on preliminary path planning data.

[0079] Steps S201 to S202 are described in detail below.

[0080] In step S201 of some embodiments, the preliminary path planning data includes at least one of acceleration segment planning data, constant speed segment planning data, and deceleration segment planning data. The mover needs to transport the workpiece from its starting position to its target position, during which the mover undergoes a change from start to stop. The acceleration segment planning data refers to various motion data related to the acceleration segment, the constant speed segment planning data refers to various motion data related to the constant speed segment, and the deceleration segment planning data refers to various motion parameters related to the deceleration segment. Motion parameters include jerk, acceleration, velocity, path, time, deceleration, initial position, and target position. The target position refers to the location of the workstation to which the mover needs to move.

[0081] Specifically, the motion path of the mover can be planned based on a seven-segment S-shaped motion curve. Assume the initial path plan includes an acceleration segment, a constant speed segment, and a deceleration segment. The acceleration segment includes acceleration segment t1, constant speed segment t2, and deceleration segment t3; the constant speed segment includes constant speed segment t4; and the deceleration segment includes acceleration / deceleration segment t5, constant deceleration segment t6, and deceleration / deceleration segment t7, where t represents a time interval.

[0082] First, determine the initial and target positions and velocities of the mover, and select appropriate accelerations a and decelerations d.

[0083] Assume the starting position of the motion is P. s The target location is P. e The initial velocity of the motion is v s The target position velocity is v e Given a velocity v according to the constraints. ref It must not exceed the system's maximum speed v max Then the maximum speed v allowed by the system max =v ref This is a critical situation.

[0084] Secondly, the planning will be accelerated.

[0085] Depend on Here, Jerk refers to jerk, and v1 is the final velocity of the acceleration phase.

[0086] Therefore, it can be deduced that

[0087] Since the uniform acceleration and uniform deceleration sections are symmetrical, under critical conditions we have:

[0088] when At that time, the mover cannot reach its maximum acceleration a. max In this case, the uniform acceleration segment t2 is not planned. At this time,

[0089] When the mover can reach its maximum acceleration, it is necessary to plan the uniform acceleration segment t2.

[0090] That is, the existence of a uniform acceleration phase is determined by comparing the maximum speed that can be accelerated to during the acceleration phase with the actual maximum speed reached.

[0091] Next, the deceleration section will be planned.

[0092] Since the uniform acceleration and uniform deceleration segments are symmetrical, therefore when At that time, the mover cannot reach the maximum deceleration d. max In this case, the uniform deceleration segment t6 is not planned.

[0093] When the mover can reach the maximum deceleration d max At this point, it is necessary to plan the uniform deceleration segment t6. t7 = t5.

[0094] That is, the need to plan a uniform deceleration section is determined by comparing the minimum speed that can be reduced to during the deceleration section with the given final speed.

[0095] Then, calculate the sum of the displacements during the acceleration and deceleration phases.

[0096] The displacement during the acceleration phase is calculated using formula (1). Formula (1) is shown below.

[0097]

[0098] Where S_acc is the displacement of the acceleration segment.

[0099] The displacement of the deceleration section is calculated using formula (2). Formula (2) is shown below.

[0100]

[0101] Where S_dec is the displacement of the deceleration segment.

[0102] Therefore, the sum of the displacements in the acceleration and deceleration phases is obtained by adding the displacements of the acceleration and deceleration phases. The sum of the displacements in the acceleration and deceleration phases can be expressed as S_accdec, i.e., S_accdec = S_acc + S_dec.

[0103] Next, determine whether it is necessary to plan the constant speed segment t4.

[0104] If the sum of the displacements of the acceleration and deceleration segments is greater than or equal to half the length of the target motion path, then there is no need to plan the uniform velocity segment t4. Otherwise, the uniform velocity segment t4 needs to be planned.

[0105] If it is necessary to plan the uniform speed segment t4, then the time and displacement of the uniform speed segment need to be calculated.

[0106] Wherein, the time of the uniform velocity segment, TimeConst, is... The displacement DisConst of the uniform velocity segment is DisConst = |v e -v s |*TimeConst.

[0107] Finally, based on the calculation results of the above formula, the speed within each time period is determined.

[0108] By following the steps above, the motion parameters of the mover can be obtained for each time period. This yields the planning data for the acceleration phase, the uniform velocity phase, and the deceleration phase.

[0109] In step S202 of some embodiments, the preliminary motion curve is used to indicate how the mover moves. The preliminary motion curve includes the relationship between the mover's acceleration and time, the relationship between the mover's acceleration and time, the relationship between the mover's velocity and time, and the relationship between the mover's displacement and time. The preliminary motion curve is generated based on the acquired acceleration segment planning data, constant velocity segment planning data, and deceleration segment planning data.

[0110] It should be noted that, to determine parameters such as the system's maximum speed limit, maximum acceleration limit, maximum jerk limit, and acceleration time during operation, the following factors need to be considered:

[0111] (1) Motor load: The motor load refers to the weight of the object being transported on the magnetic levitation conveyor line, i.e., the weight of the workpiece. The heavier the motor load, the higher the requirements for the magnetic levitation system, especially during acceleration and braking. Heavier loads may require longer acceleration times and lower acceleration and jerk.

[0112] (2) Operating Environment: The operating environment of the magnetic levitation conveyor includes factors such as air humidity, temperature, and vibration. These environmental factors may affect the performance of the magnetic levitation system, so their limitations on the magnetic levitation system need to be considered. For example, in high-temperature environments, the maximum speed limit of the magnetic levitation system may need to be reduced to avoid overheating.

[0113] (3) Design parameters of the magnetic levitation system: The design parameters of the magnetic levitation system include the magnitude of the magnetic force, the response speed of the controller, and the accuracy of the sensors. These parameters directly affect the performance limitations of the magnetic levitation system. For example, a larger magnetic force can support a larger load and a higher speed.

[0114] (4) Safety: Considering the safety during transportation, it is necessary to ensure that the motor operates within a controllable range. Therefore, the maximum speed, acceleration, and jerk need to be set within a safe range to avoid system malfunction or operational accidents.

[0115] The maximum speed limit and acceleration limit are both related to the jerk limit. Larger acceleration and jerk will result in a shorter acceleration time, allowing the mover to reach maximum speed more quickly. However, it is essential to ensure that the acceleration and jerk are within the capabilities of the system and the load to avoid excessive stress and runaway.

[0116] Load and operating environment affect the requirements for maximum speed, acceleration, and jerk. Heavy loads and harsh operating environments may necessitate reductions in maximum speed, acceleration, and jerk to ensure system stability and reliability.

[0117] Safety considerations are crucial in determining maximum speed, acceleration, and jerk. These parameters must be set within ranges that ensure the safety of the transportation process to avoid potential accidents and damage.

[0118] In summary, determining the maximum speed, acceleration, jerk, and acceleration time of a magnetic levitation conveyor line requires comprehensive consideration of factors such as the load on the mover, the operating environment, the design parameters of the magnetic levitation system, and safety, and ensuring that the values ​​of each parameter are set within the capabilities of the system and the load.

[0119] Through the above steps S201 to S202, various factors and constraints are considered to plan the initial motion curve for the mover, so that the mover can move according to the initial motion curve and reach the target position when it reaches the given speed.

[0120] It should be noted that this application only demonstrates the case where the trajectory of the mover from the starting position to the target position is a straight line. For the case where the trajectory is a curve, the corresponding formulas provided in this application require a series of transformations. To save space, these will not be elaborated upon in this application.

[0121] In step S101 of some embodiments, the preliminary motion curve can be stored in the system to which the motion planning method is applied, or it can be stored in other designated spaces, without limitation. Accordingly, the preliminary motion curve can be obtained from the storage space.

[0122] Step S102 is described below.

[0123] Please see Figure 3 In step S102 of some embodiments, the motion planning method may include, but is not limited to, steps S301 to S302:

[0124] Step S301: Based on the preliminary motion curve, determine the first jerk, first acceleration, first velocity, first length, and first time of the mover;

[0125] Step S302: Determine the termination position of the motion of the mover based on the first jerk, first acceleration, first velocity, first length, and first time.

[0126] Steps S301 to S302 are described in detail below.

[0127] In step S301 of some embodiments, the first jerk is the jerk of the current segment of the preliminary motion curve, the first acceleration is the initial acceleration of the current segment of the preliminary motion curve, the first velocity is the initial velocity of the current segment of the preliminary motion curve, the first length is the length that the mover has moved according to the preliminary motion curve, and the first time is the total duration of motion required for the current segment of the preliminary motion curve. The current segment can be any segment of an acceleration segment, a uniform acceleration segment, a deceleration segment, a uniform velocity segment, an acceleration / deceleration segment, a uniform deceleration segment, or a deceleration / deceleration segment. Based on the preliminary motion curve, the first jerk, the first acceleration, the first velocity, the first length, and the first time can be obtained.

[0128] In step S302 of some embodiments, the motion termination position of the mover can be obtained based on the first jerk, first acceleration, first velocity, first length, first time, and a preset function. Specifically, the first jerk Jerk, first acceleration a, first velocity v, first length s, and first time t are substituted into the preset function for calculation to determine the motion termination position Pos of the mover according to the current segment, and the current length moved by the mover after completing the current segment can be obtained based on the motion termination position of the current segment. Then, the motion termination position of the next segment is calculated based on the preset function and the current length moved after completing the current segment. When calculating the last segment of the preliminary motion curve, the jerk, acceleration, velocity, length, and time of the last segment of the preliminary motion curve are substituted into the preset function to determine the motion termination position Pos of the mover. fine The preset function is shown in formula (3).

[0129] Pos = Jerk *t 3 +at 2 +vt+s, Formula (3)

[0130] Through the above steps S301 to S302, the first jerk, first acceleration, first velocity, first length, and first time of the mover during motion can be determined based on the preliminary motion curve, thereby determining the motion termination position that the mover can reach when moving according to the preliminary motion curve based on this series of motion parameters.

[0131] Next, step S103 will be described.

[0132] Please see Figure 4 In step S103 of some embodiments, the motion planning method for the moving part may include, but is not limited to, steps S401 to S402:

[0133] Step S401: Determine the starting position of the mover's motion;

[0134] Step S402: Based on the distance difference between the starting position and the ending position of the motion, the predicted motion path length corresponding to the preliminary motion curve is obtained.

[0135] Steps S401 to S402 are described in detail below.

[0136] In step S401 of some embodiments, the starting position of the motion of the mover can be determined based on the preliminary motion curve.

[0137] In step S402 of some embodiments, the distance difference is the distance between the starting position and the ending position of the motion, which is the length that the mover travels from the starting position to the ending position during transport, that is, the predicted motion path length corresponding to the preliminary motion curve. Based on this, the predicted motion path length can be obtained by subtracting the starting position from the ending position. Specifically, the predicted motion path length can be obtained through formula (4), which is shown below.

[0138] S all =Pos fine -P s , formula (4)

[0139] Among them, S all To predict the motion path length, P s This is the starting position of the movement.

[0140] Through the above steps S401 to S402, the predicted motion path length reached by the mover when moving according to the preliminary motion curve can be determined based on the distance between the starting position and the ending position of the mover.

[0141] Next, step S104 will be described in detail.

[0142] In step S104 of some embodiments, the target motion path length of the mover is the path length from the starting position to the target position. When the motion trajectory is a straight line, the path passes through the target position P. e Subtract the starting position P of the motion s The length of the target motion path is obtained. Specifically, this is achieved through P. e -P sThe target motion path length can be obtained. After obtaining the predicted motion path length and the target motion path length, the motion position deviation is obtained based on the predicted motion path length and the target motion path length of the mover. Specifically, the motion position deviation is obtained by subtracting the target motion path length from the predicted motion path length, i.e., by using S... all -(P e -P s The motion position deviation is calculated, if S all -(P e -P s If the calculated result of S is greater than or equal to 0, it indicates that the predicted motion path length is not less than the target motion path length; if S all -(P e -P s If the calculated result is less than 0, it indicates that the predicted motion path length is less than the target motion path length. By obtaining the motion position deviation, it can be determined whether the mover can reach the target position when it reaches the given velocity, based on the initial motion curve.

[0143] Next, step S105 will be described.

[0144] In step S105 of some embodiments, if the predicted motion path length, representing the motion position deviation, is less than the target motion path length, it means that the mover cannot reach the target position when it reaches the given speed according to the initial motion curve. Therefore, it is necessary to plan a supplementary path for the mover based on the initial motion curve. The supplementary path can be placed before or within the initial motion curve; there is no limitation on this. Placing the supplementary path before the initial motion curve will not change the curve characteristics of the initial motion curve. However, placing the supplementary path within the initial motion curve will change the curve characteristics of the initial motion curve. The position of the supplementary path can be preset, or constraints can be set according to specific application scenarios to automatically select a better supplementary path position in different scenarios. Based on this, the position of the supplementary path can be determined. The constraints are determined according to the application scenario and are not specifically limited.

[0145] It should be noted that the supplementary motion path in this embodiment can also be placed after the initial motion curve, but this may cause discontinuity in speed and acceleration, resulting in a system error.

[0146] Next, step S106 will be described.

[0147] Please refer to Figure 5 In step S106 of some embodiments, the motion planning method may include, but is not limited to, steps S501 to S503:

[0148] Step S501: If it is determined that the position of the supplementary path is before the initial motion curve, then obtain the initial velocity of the initial motion curve.

[0149] Step S502: Perform a division operation based on the motion position deviation and the initial velocity to obtain the supplementary time, where the motion position deviation is the dividend and the initial velocity is the divisor;

[0150] Step S503: Generate a motion path based on the supplementary time and initial velocity to obtain a supplementary motion path.

[0151] Steps S501 to S503 are described in detail below.

[0152] In step S501 of some embodiments, if the position of the supplementary path is determined to be before the preliminary motion curve, then the initial velocity is obtained from the preliminary motion curve. The initial velocity of the preliminary motion curve is the velocity of the mover at the starting position of the motion, i.e., v. s .

[0153] In step S502 of some embodiments, the supplementary time refers to the motion time of the mover other than the motion according to the initial motion curve. The supplementary time is used to enable the mover to reach the target position when it reaches a given velocity. The supplementary time is obtained by dividing the motion position deviation by the initial velocity, where the motion position deviation is the dividend and the initial velocity is the divisor. Specifically, the supplementary time t_add is obtained by formula (5).

[0154]

[0155] In step S503 of some embodiments, the supplementary motion path refers to the motion path of the mover other than the initial motion curve. The supplementary motion path enables the mover to reach the target position when it reaches a given velocity. The supplementary motion path is generated based on the supplementary time and the initial velocity. Setting the mover to uniform motion on the supplementary motion path is the method that minimizes the impact on the initial motion curve. Therefore, this application embodiment considers setting the motion mode of the supplementary motion path to uniform motion. Of course, if the impact on the initial motion curve is within an acceptable range, it can also be set to accelerated or decelerated motion. Specifically, a supplementary uniform speed segment is planned on the supplementary motion path, where the jerk is 0, the acceleration is 0, and the velocity is v. s The exercise time is the supplementary time t_add.

[0156] By using steps S501 to S503, a supplementary motion path can be added before the initial motion curve, thus avoiding motion oscillations without changing the curve characteristics of the initial motion curve.

[0157] Please see Figure 7In step S106 of some other embodiments, the supplementary motion path includes a first supplementary path and a second supplementary path. The motion planning method may also include, but is not limited to, steps S701 to S703:

[0158] Step S701: If it is determined that the position of the supplementary path is within the initial motion curve, then the uniform speed segment detection is performed on the initial motion curve.

[0159] Step S702: If it is determined that the initial motion curve does not contain a uniform velocity segment, then a path is generated based on the final velocity of the acceleration segment of the initial motion curve to obtain the first supplementary path.

[0160] Step S703: If it is determined that the initial motion curve contains a uniform velocity segment, then a path is generated based on the velocity of the uniform velocity segment of the initial motion curve to obtain a second supplementary path.

[0161] Steps S701 to S703 are described in detail below.

[0162] In step S701 of some embodiments, if it is determined that the position of the supplementary path is within the preliminary motion curve, a uniform velocity segment detection is performed on the preliminary motion curve before generating the supplementary path. Specifically, if the preliminary motion curve is a seven-segment S-shaped motion curve, it is detected whether a uniform velocity segment t4 exists in the preliminary motion curve. The detection result includes whether the preliminary motion curve does not contain a uniform velocity segment or whether the preliminary motion curve contains a uniform velocity segment.

[0163] In step S702 of some embodiments, if it is determined that the initial motion curve does not include a uniform velocity segment, a path is generated based on the final velocity of the acceleration segment of the initial motion curve to obtain a first supplementary path. Specifically, if the initial motion curve does not include a uniform velocity segment, the first supplementary path needs to be set between the acceleration and deceleration segments of the initial motion curve. To avoid discontinuities in velocity and unevenness in the mover curve, the velocity of the first supplementary path needs to be set to be consistent with the final velocity of the acceleration segment of the initial motion curve. On the first supplementary path, the mover's jerk is 0, the acceleration is 0, and the velocity is the same as the final velocity of the acceleration segment of the initial motion curve. The motion time needs to be calculated using the length of the first supplementary path and the velocity.

[0164] In step S703 of some embodiments, if it is determined that the initial motion curve includes a uniform velocity segment, a path is generated based on the velocity of the uniform velocity segment of the initial motion curve to obtain a second supplementary path. The second supplementary path can be placed before or after the uniform velocity segment of the initial motion curve. Specifically, to avoid velocity discontinuities and unevenness of the mover curve, the velocity of the second supplementary path needs to be set to be consistent with the velocity of the uniform velocity segment of the initial motion curve. On the second supplementary path, the mover's jerk is 0, acceleration is 0, and the velocity is the same as the velocity of the uniform velocity segment of the initial motion curve. The motion time needs to be calculated using the length of the second supplementary path and the velocity.

[0165] By using steps S701 to S703 above, a supplementary motion path can be added to the initial motion curve, and the speed of the supplementary motion path can be set to match the initial motion curve, thus avoiding motion oscillation.

[0166] Next, step S107 will be described.

[0167] Please refer to Figure 6 In step S107 of some embodiments, if the location of the supplementary path is determined to be before the initial motion curve, the motion planning method may include, but is not limited to, steps S601 to S602:

[0168] Step S601: Generate the target uniform velocity curve based on the supplementary motion path;

[0169] Step S602: Based on the predetermined splicing order, the target uniform velocity curve and the preliminary motion curve are spliced ​​together to obtain the target motion curve.

[0170] Steps S601 to S602 are described in detail below.

[0171] In step S601 of some embodiments, the target uniform velocity curve is used to indicate how the mover moves on the supplementary motion path. The target uniform velocity curve includes the relationship between the mover's jerk and the supplementary time, the relationship between the mover's acceleration and the supplementary time, the relationship between the mover's velocity and the supplementary time, and the relationship between the mover's displacement and the supplementary time. Therefore, the target uniform velocity curve characterizes a uniform velocity segment where the jerk is 0, the acceleration is 0, and the velocity is v. s The motion curve is the motion curve of the supplementary uniform segment with a motion time of supplementary time t_add.

[0172] In step S602 of some embodiments, since the supplementary path is located before the initial motion curve, stitching the target uniform velocity curve before the initial motion curve is equivalent to shifting the initial motion curve backward on the time axis.

[0173] By using steps S601 to S602 above, the initial motion curve can be adjusted by splicing the target uniform velocity curve before the initial motion curve, so that the mover reaches the target position when it reaches the given speed, thereby improving the motion accuracy and efficiency of the mover and reducing the probability of position deviation and road congestion.

[0174] Please refer to Figure 7 In step S107 of some embodiments, if it is determined that the position of the supplementary path is within the initial motion curve, the motion planning method may also include, but is not limited to, steps S704 and S705:

[0175] Step S704: If it is determined that the preliminary motion curve does not contain a uniform velocity segment, then a first uniform velocity curve is generated based on the first supplementary path, and the first uniform velocity curve is inserted after the acceleration segment of the preliminary motion curve to obtain the target motion curve.

[0176] Step S705: If it is determined that the preliminary motion curve includes a uniform speed segment, then the segment extension time is determined based on the second supplementary path, and the uniform speed segment of the preliminary motion curve is extended based on the segment extension time to obtain the target motion curve.

[0177] Steps S704 and S705 will be described in detail below.

[0178] In step S704 of some embodiments, the first uniform velocity curve is used to indicate how the mover moves on the first supplementary path. The first uniform velocity curve includes the relationship between the mover's acceleration and time, the relationship between the mover's acceleration and time, the relationship between the mover's velocity and time, and the relationship between the mover's displacement and time. If it is determined that the preliminary motion curve does not contain a uniform velocity segment, the first uniform velocity curve is generated based on the first supplementary path. Specifically, the first uniform velocity curve is used to indicate that the mover moves at a uniform velocity using the final velocity of the acceleration segment of the preliminary motion curve as its velocity, and the quotient of the length of the first supplementary path and this velocity as its motion time. The first uniform velocity curve is inserted after the acceleration segment and before the deceleration segment of the preliminary motion curve. By splicing the first uniform velocity curve with the preliminary motion curve, the target motion curve is obtained. This method is equivalent to adding a uniform velocity segment in the middle of the preliminary motion curve so that the mover reaches the target position when it reaches a given velocity.

[0179] In step S705 of some embodiments, if it is determined that the preliminary motion curve includes a uniform speed segment, then the segment extension time is determined based on the second supplementary path. Specifically, the segment extension time is obtained by dividing the length of the second supplementary path by the speed of the uniform speed segment of the preliminary motion curve. After determining the segment extension time, the uniform speed segment of the preliminary motion curve is extended based on the segment extension time to obtain the target motion curve. That is, a second uniform speed curve with a segment extension time is added to the uniform speed segment of the preliminary motion curve. The second uniform speed curve is used to indicate how the mover moves on the second supplementary path. The second uniform speed curve includes the relationship between the mover's acceleration and time, the relationship between the mover's acceleration and time, the relationship between the mover's speed and time, and the relationship between the mover's displacement and time. The second uniform speed curve is spliced ​​onto any time point of the uniform speed segment of the preliminary motion curve to obtain the target motion curve. Specifically, the second uniform speed curve is used to indicate that the mover moves with the speed of the uniform speed segment of the preliminary motion curve as the speed, and the quotient of the length of the second supplementary path and this speed as the movement time. This method is equivalent to extending the uniform velocity segment of the initial motion curve so that the mover reaches the target position when it reaches the given velocity.

[0180] By using steps S704 to S705 above, the initial motion curve can be adjusted by splicing a uniform velocity curve into the initial motion curve, so that the mover reaches the target position when it reaches a given speed, thereby improving the motion accuracy and efficiency of the mover and reducing the probability of position deviation and road congestion.

[0181] Please see Figure 8 This application also provides a motion planning system for a moving part, which can implement the above-described motion planning method for a moving part. The system includes:

[0182] The preliminary motion curve acquisition module 801 is used to acquire the preliminary motion curve of the mover.

[0183] The motion termination position acquisition module 802 is used to determine the motion termination position of the mover based on the preliminary motion curve;

[0184] The predicted motion path length acquisition module 803 is used to predict the motion path based on the motion termination position and obtain the predicted motion path length corresponding to the preliminary motion curve.

[0185] The motion position deviation acquisition module 804 is used to obtain the motion position deviation based on the predicted motion path length and the target motion path length of the mover;

[0186] The position determination module 805 is used to determine the position of the supplementary path if the predicted motion path length is less than the target motion path length.

[0187] The supplementary motion path acquisition module 806 is used to generate a motion path based on the position of the preliminary motion curve and the supplementary path, thereby obtaining the supplementary motion path.

[0188] The target motion curve acquisition module 807 is used to generate the target motion curve of the mover based on the supplementary motion path and the preliminary motion curve. The target motion curve is used to indicate that the mover has moved to the target position.

[0189] The specific implementation of this motion planning system is basically the same as the specific implementation of the motion planning method described above, and will not be repeated here.

[0190] This application embodiment also provides a motion planning device for a moving part, including but not limited to an acquisition module, a control module, and a storage module:

[0191] The acquisition module is used to acquire the current position information and motion state of the mover in real time. This acquisition module includes a position detection unit, which is primarily used to acquire position information. The position detection unit detects the position of the mover using at least one of the following methods: infrared sensing, grating sensing, and magnetic grating sensing.

[0192] The control module is used to plan the motion curve of the mover. During the planning period, it controls the mover to run with the planned motion parameters. The way the control module plans the motion curve of the mover is basically the same as the motion planning method of the mover in the above embodiment, and will not be described again here.

[0193] The storage module is used to store the motion parameters of the mover.

[0194] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described motion planning method for a moving part. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0195] Please see Figure 9 , Figure 9 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0196] The processor 901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0197] The memory 902 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 902 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 using the motion planning method of the embodiments of this application.

[0198] The input / output interface 903 is used to implement information input and output;

[0199] The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0200] Bus 905 transmits information between various components of the device (e.g., processor 901, memory 902, input / output interface 903, and communication interface 904);

[0201] The processor 901, memory 902, input / output interface 903, and communication interface 904 are connected to each other within the device via bus 905.

[0202] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described motion planning method for moving parts.

[0203] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0204] The motion planning method, system, electronic device, and storage medium provided in this application obtain a preliminary motion curve of the mover; determine the termination position of the mover based on the preliminary motion curve; predict the motion path based on the termination position to obtain the predicted motion path length corresponding to the preliminary motion curve, thus enabling the acquisition of the predicted motion path length through the preliminary motion curve. Further, based on the predicted motion path length and the target motion path length of the mover, a motion position deviation is obtained, which determines whether the mover can reach the target position according to the preliminary motion curve. Further, if the motion position deviation indicates that the predicted motion path length is less than the target motion path length, the position of a supplementary path is determined; a motion path is generated based on the position of the preliminary motion curve and the supplementary path to obtain the supplementary motion path; and the target motion curve of the mover is generated based on the supplementary motion path and the preliminary motion curve. This method can improve the accuracy and efficiency of the mover's motion by adjusting the preliminary motion curve, thereby reducing the probability of position deviation and road congestion.

[0205] The embodiments described in this application are for the purpose of more clearly illustrating 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. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0206] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0207] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0208] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0209] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0210] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0211] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0212] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0213] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A motion planning method for a moving part, characterized in that, The method includes: Obtain the initial motion curve of the mover; Based on the preliminary motion curve, the termination position of the motion of the mover is determined; Based on the motion termination position, the motion path is predicted to obtain the predicted motion path length corresponding to the preliminary motion curve; Based on the predicted motion path length and the target motion path length of the mover, the motion position deviation is obtained; If the motion position deviation indicates that the predicted motion path length is less than the target motion path length, then the position of the supplementary path is determined; If the location of the supplementary path is determined to be within the initial motion curve, then the initial motion curve is subjected to uniform velocity segment detection; If it is determined that the preliminary motion curve does not contain a uniform velocity segment, then a path is generated based on the final velocity of the acceleration segment of the preliminary motion curve to obtain a first supplementary path; a first uniform velocity curve is generated based on the first supplementary path, and the first uniform velocity curve is inserted after the acceleration segment of the preliminary motion curve to obtain the target motion curve. If it is determined that the preliminary motion curve contains a uniform speed segment, then a path is generated based on the speed of the uniform speed segment of the preliminary motion curve to obtain a second supplementary path; the road segment extension time is determined based on the second supplementary path, and the uniform speed segment of the preliminary motion curve is extended based on the road segment extension time to obtain the target motion curve; The target motion curve is used to indicate the movement of the mover to the target position.

2. The motion planning method for a moving part according to claim 1, characterized in that, Determining the termination position of the motion of the mover based on the preliminary motion curve includes: Based on the preliminary motion curve, the first jerk, first acceleration, first velocity, first length, and first time of the mover are determined; The motion termination position of the mover is determined based on the first jerk, the first acceleration, the first velocity, the first length, and the first time.

3. The motion planning method for a moving part according to claim 2, characterized in that, The step of predicting the motion path based on the motion termination position to obtain the predicted motion path length corresponding to the preliminary motion curve includes: Determine the starting position of the motion of the mover; Based on the distance difference between the starting position and the ending position of the motion, the predicted motion path length corresponding to the preliminary motion curve is obtained.

4. The motion planning method for a moving part according to claim 3, characterized in that, After determining the location of the supplementary path, the method further includes: If the location of the supplementary path is determined to be before the initial motion curve, then the initial velocity of the initial motion curve is obtained; The supplementary time is obtained by dividing the motion position deviation by the initial velocity, wherein the motion position deviation is the dividend and the initial velocity is the divisor. Based on the supplementary time and the initial velocity, a motion path is generated to obtain a supplementary motion path.

5. The motion planning method for a moving part according to claim 4, characterized in that, After obtaining the supplementary motion path, the method further includes: Based on the supplementary motion path, a target uniform velocity curve is generated; Based on a predetermined splicing order, the target uniform velocity curve and the preliminary motion curve are spliced ​​together to obtain the target motion curve.

6. A motion planning method for a moving part according to any one of claims 1 to 5, characterized in that, The preliminary motion curve is generated in the following manner: Motion path planning is performed for the moving part to obtain preliminary path planning data, which includes at least one of acceleration segment planning data, constant speed segment planning data, and deceleration segment planning data. Based on the preliminary path planning data, the preliminary motion curve is generated.

7. A motion planning system for a moving part, characterized in that, The system includes: The preliminary motion curve acquisition module is used to acquire the preliminary motion curve of the mover; The motion termination position acquisition module is used to determine the motion termination position of the mover based on the preliminary motion curve. The predicted motion path length acquisition module is used to predict the motion path based on the motion termination position and obtain the predicted motion path length corresponding to the preliminary motion curve. The motion position deviation acquisition module is used to obtain the motion position deviation based on the predicted motion path length and the target motion path length of the mover; The position determination module is used to determine the position of the supplementary path if the motion position deviation indicates that the predicted motion path length is less than the target motion path length. The supplementary motion path acquisition module is used to perform uniform velocity segment detection on the initial motion curve if the location of the supplementary path is determined to be within the initial motion curve; if the initial motion curve does not contain a uniform velocity segment, a path is generated based on the final velocity of the acceleration segment of the initial motion curve to obtain a first supplementary path; if the initial motion curve contains a uniform velocity segment, a path is generated based on the velocity of the uniform velocity segment of the initial motion curve to obtain a second supplementary path. The target motion curve acquisition module is used to, if it is determined that the preliminary motion curve does not contain a uniform speed segment, generate a first uniform speed curve based on the first supplementary path, insert the first uniform speed curve after the acceleration segment of the preliminary motion curve, and obtain the target motion curve; if it is determined that the preliminary motion curve contains a uniform speed segment, determine the segment extension time based on the second supplementary path, and extend the uniform speed segment of the preliminary motion curve based on the segment extension time to obtain the target motion curve; wherein, the target motion curve is used to indicate that the mover has moved to the target position.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement a motion planning method for a moving part as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements a motion planning method for a moving part as described in any one of claims 1 to 6.

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