A motion planning method for flying shot detection

Abstract

The present invention discloses a motion planning method for flying detection, comprising: dividing the flying process into a high-speed-low uniform-speed-high-speed motion process, wherein the low uniform speed refers to the object to be detected being in a uniform motion state when it is in the camera's working field; the first high speed refers to the rapid motion of the object to be detected from the starting position to the camera's working field ①, and the second high speed refers to the rapid motion of the object to be detected from the edge of the camera's working field to the target position ②; by calculating the motion curve expressions of the rapid motion ① and the rapid motion ② and splicing them with the uniform motion of the low uniform speed detection section, a complete motion planning curve is obtained. The present invention minimizes the motion time of the flying process while ensuring the imaging quality of the detection image, thereby greatly improving the efficiency of the flying process.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a motion planning method for fly-shot detection. Background Art

[0002] Flying photography is a common technique in the field of automatic control. It primarily involves taking photos of objects while they are in motion relative to the camera, and using a machine vision system to obtain information such as the object's position and shape. Compared to stop-motion photography, flying photography does not require the object to stop during operation, greatly improving work efficiency. However, since the object is in motion as it passes through the camera's field of view during flying photography, the quality of the captured image is affected by the camera's exposure time and the object's movement speed, leading to the following issues:

[0003] 1) To improve the efficiency of flying inspection, the object to be inspected needs to move at high speed, which requires the use of hardware such as high-speed cameras and high-speed IO boards to ensure imaging quality, thus greatly increasing the cost of the flying inspection system;

[0004] 2) If low-speed flying camera hardware is used, the object to be inspected needs to be in a low-speed motion state to ensure imaging quality, which reduces the working efficiency of the flying camera system;

[0005] 3) If the object to be inspected is jittery when passing through the camera's field of view, it will significantly affect the accuracy of the flying shot detection, requiring additional jitter suppression design. Summary of the Invention

[0006] The purpose of the present invention is to provide a motion planning method for fly-by-flight detection, which is used to minimize the motion time of the fly-by-flight process while ensuring the imaging quality of the detection image, thereby greatly improving the efficiency of the fly-by-flight process.

[0007] In order to achieve the above tasks, the present invention adopts the following technical solutions:

[0008] A motion planning method for fly-by detection, comprising:

[0009] The flying process is divided into a high-speed-low uniform speed-high-speed motion process, wherein the low uniform speed refers to the uniform motion of the object to be detected within the camera's working field of view; the first high speed refers to the rapid motion of the object to be detected from the starting position to the point where it enters the camera's working field of view (①), and the second high speed refers to the rapid motion of the object to be detected from the edge of the camera's working field of view to the target position (②);

[0010] Obtain the inherent parameters of the flying detection motion system;

[0011] Bring the inherent parameters of the system into the preset vibration suppression optimization model to obtain the FS curve time period tA corresponding to rapid motion ① and rapid motion ② respectively. i and tB i ;

[0012] Using the FS curve time period tA i and tB i , and the FS curve matrix form of rapid motion ① and rapid motion ②, by establishing the inherent constraint equations, solve the time period tA i and tB i The corresponding amplitude vector SaA in the matrix form of the FS curve is n and SaB n ;

[0013] Based on the FS curve time period tA i and tB i , amplitude vector SaA n and SaB n , determine the motion curve expressions of rapid motion ① and rapid motion ②;

[0014] The motion curve expressions of rapid motion ① and rapid motion ② are spliced ​​with the uniform motion of the low uniform speed detection segment to obtain a complete motion planning curve.

[0015] Furthermore, the inherent parameters of the flying detection motion system include:

[0016] System natural frequency ω n , the maximum speed of the drive in the system V max , the maximum acceleration of the drive A max , the maximum jerk value of the drive J max , the maximum allowable value of residual vibration velocity error V error , the maximum allowable value S of the residual positioning vibration error after the flying motion ends error .

[0017] Furthermore, the vibration suppression optimization model is expressed as:

[0018] Design variable t j (j=0,1,...,2 n -1)

[0019] Optimization goal

[0020] Physical constraints

[0021] Vibration constraints

[0022] Among them, t jIt represents the jth segment time point in the piecewise function form of the FS curve, n is the highest order of the FS curve, is the end time of the FS curve, and Δt is the decay time of the residual vibration after the object to be inspected reaches the target position; Indicates that the first-order FS curve is The value of the moment, Indicates that the second-order FS curve is The value of the moment, Indicates that the third-order FS curve is The value at the moment; ω n is the natural frequency of the system, Indicates the second-order elastic damping system under the FS curve input The response output at the moment, express The first derivative of express The second derivative of express The square of express The square of .

[0023] Furthermore, the FS curve matrix of the rapid motion ① and the rapid motion ② is expressed as:

[0024]

[0025] Where n represents the highest order of the FS curve; The expression of the i-th order of the n-th order FS curve; Represents a vector C n represents the cancellation matrix, which is expressed as A n represents the symbolic coefficient vector, and the expression is K n Represents the proliferation matrix, the expression is .* means multiplying the elements of the same index in the previous matrix and the next matrix. n represents the magnitude vector, and the expression is vector in The expression is t is the time parameter, and H j (t) is a unit step function.

[0026] Furthermore, for rapid motion ①, the established inherent constraint equations are expressed as:

[0027]

[0028] in:

[0029]

[0030] Where Q A is the displacement value of rapid motion ①, V d is the speed value of the middle uniform speed detection section; Indicates the different moments The vector composed of Represents a vector k is a coefficient used to distinguish the

[0031] Furthermore, for rapid motion ②, its initial speed value is the speed value of the middle uniform speed detection segment, and the final speed value is 0; the speed curve of rapid motion ② is decomposed into two sub-curves, one with an initial speed of 0 and a final speed of -V d Sub-curve ③, the second is the constant speed V m Therefore, the inherent constraint equations based on sub-curve ③ are expressed as:

[0032]

[0033] where Q B1 is the displacement value obtained by integrating sub-curve ③, which is numerically equal to the difference between the displacement values ​​of rapid motion ② and sub-curve ④.

[0034] Furthermore, the time period tA based on the FS curve i and tB i , amplitude vector SaA n and SaB n , determine the motion curve expressions of rapid motion ① and rapid motion ②, including:

[0035] The rapid movement of tA i and SaA n 、The rapidly moving tB i and SaB n Substituting into the FS curve matrix form of rapid motion ① and rapid motion ②, the motion curve expressions of rapid motion ① and rapid motion ② are obtained.

[0036] Compared with the prior art, the present invention has the following technical features:

[0037] 1. The "high speed-low constant speed-high speed" motion planning is used to replace the traditional "high speed-stop-high speed" or "full high speed" flying shooting process, which reduces the price cost of the inspection camera, takes into account the imaging quality of the inspection process, and solves the contradiction between high-speed movement and imaging quality.

[0038] 2. Use high-order S-shaped velocity planning with high acceleration and low deceleration to reduce the velocity vibration of the object entering the camera field of view and the positioning vibration when reaching the target position.

[0039] 3. Combined with the programmable function of the existing control card, the motion planning curve is embedded in the existing control device to achieve accurate output of the flying motion command, which makes up for the functional defects of the existing control card that does not have high-order S-curve planning and its deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Improved schematic diagram for flying shot detection;

[0041] Figure 2 It is a schematic diagram of the third-order FS curve;

[0042] Figure 3 It is a schematic diagram of the 4th-order FS curve;

[0043] Figure 4 ② is a schematic diagram of the decomposition of the speed curve of rapid motion;

[0044] Figure 5 This is a schematic diagram of the splicing of the flying shot detection speed curve;

[0045] Figure 6 This is a time domain diagram of the actual system's rapid response;

[0046] Figure 7 This is a schematic diagram of the motion curve of section A of the flying shot detection;

[0047] Figure 8 This is a schematic diagram of the motion curve of segment B of the flying shot detection;

[0048] Figure 9 Schematic diagram of the complete motion curve for flying camera detection. DETAILED DESCRIPTION

[0049] This invention proposes an efficient motion planning method for a flying camera system. By designing a suitable motion planning path, the original "high speed-stop-high speed" or "full high speed" flying camera process is replaced by a "high speed-low uniform speed-high speed" motion process. Figure 1 The speed curves of different motion processes are shown. The flying detection motion process of "high speed-low uniform speed-high speed" is divided into two parts:

[0050] i. When the object to be inspected is within the camera's field of view, it is in a state of uniform motion. Its motion speed is the maximum speed that ensures the camera's imaging quality. This is recorded as the intermediate uniform speed detection segment, representing the low uniform speed stage in the "high speed-low uniform speed-high speed" process;

[0051] ii. When the object to be inspected is outside the working field of the camera, the object to be inspected shall be executed according to the maximum working capacity of the driver: ① rapid movement from the starting position to the position entering the working field of the camera and ② rapid movement from the edge of the working field of the camera to the target position. Among them, rapid movement ① represents the former high-speed process in "high speed-low uniform speed-high speed", and rapid movement ② represents the latter high-speed process in "high speed-low uniform speed-high speed". When executing the above rapid movement ①, it is necessary to ensure that the speed jitter of the object to be inspected when entering the working field of the camera is within the allowable range, so as not to affect the camera imaging quality; when executing the above rapid movement ②, it is necessary to ensure that the residual vibration of the displacement of the object to be inspected is within the allowable range when the object to be inspected reaches the target position, so as not to affect the subsequent detection operations.

[0052] For rapid motion ① and rapid motion ②, the present invention adopts a motion planning method combining a high-order FS curve and a vibration suppression optimization model to design the motion curve.

[0053] The high-order FS curve specifically includes:

[0054] The full name of FS curve is Free S-curve. Compared with the existing symmetrical S-curve, the highest-order definition function of this motion curve has the most adjustable variables, and the adjustable variable is the number of amplitudes in the highest-order definition of the S-curve function. For example, for an n-order curve, the adjustable variable of the symmetrical S-curve is only 1, while the adjustable variable of the FS curve can reach 2. n-1 Individuals have a higher degree of freedom.

[0055] In order to determine the expression of the motion curve, it is necessary to define and derive the high-order FS curve:

[0056] The expression of the nth order of FS curve is given by 2 n-1 free variables, in the form of piecewise functions, denoted as Its expression is as follows:

[0057]

[0058] in, The superscript is the order of the current curve expression, and the subscript is the highest order of the curve; t represents time, and the t with subscript j (j=0...2 n -1) indicates a piecewise function Each segment time point in the segment time point has a minimum subscript of 0 and a maximum subscript of 2 n -1; 2 n-1 The free variable is represented by a non-negative magnitude S m (m=1...2 n-1 ) and symbolic coefficient a m(m=1...2 n-1 ) consists of two parts, the former represents the size, and the latter represents the positive and negative; the value of m in formula (1) ranges from 1 to 2 n-1 and positive integers between the two numbers.

[0059] Through By performing multiple integrations of piecewise functions, we can obtain the low-order expressions of the curve one after another.

[0060] For the second-order FS curve, its highest-order function expression is for:

[0061]

[0062] By integrating formula (2) multiple times, we can get the low-order expression of the second-order FS curve:

[0063]

[0064] For the third-order FS curve, its highest-order function expression is for:

[0065]

[0066] By integrating Equation (4) multiple times, we can get the low-order expression of the third-order FS curve:

[0067]

[0068] By summarizing the low-order expressions of the second-order FS curve and the third-order FS curve, the low-order expression of the n-order FS curve can be obtained.

[0069]

[0070] It can be seen from formula (6) that when i is n, it is the same as formula (1), so the low-order form of the n-order FS curve can be Expanding to the highest order, i in formula (6) can be taken to n, becoming

[0071] for When i is 0, Then it represents the displacement (0th order) expression of the curve; when i is 1, Then it represents the velocity (first order) expression of the curve; when i is 2, Then it represents the acceleration (2nd order) expression of the curve, and so on.

[0072] In order to conform to the movement trend of the FS curve, the symbol coefficient a m (m=1...2 n-1 ) must satisfy the following rules:

[0073]

[0074] Among them A n is the symbolic coefficient vector.

[0075] In order to facilitate arrangement and calculation, the arbitrary order function expression of the FS curve is Convert from piecewise function form to matrix form, specifically:

[0076] It can be seen from formula (6) that The piecewise function expression is mainly composed of the symbolic coefficient a m (m=1...2 n-1 ), amplitude variable S m (m=1...2 n-1 ) and fractions composition.

[0077] To facilitate the construction of the matrix, we can Decompose the expression with the most terms in the segment. When the time range is set, the expression has the most items. Decompose and construct the matrix:

[0078]

[0079] In formula (8), the amplitude variable S m (m=1...2 n-1 ) has 2 n Item, and each m value corresponds to S m There are two items, so construct the proliferation matrix K n and the amplitude vector Sa n , the specific expression is as follows:

[0080]

[0081] proliferation matrix K n The matrix size is (2 n ,2 n-1 ).

[0082]

[0083] Amplitude vector Sa n is the amplitude variable S m (m=1...2 n-1 ) are column vectors arranged in sequential order.

[0084] K n with Sa n Performing matrix multiplication, we get:

[0085]

[0086] K n ×Sa n Can represent the 2 in formula (8) n Amplitude variable S m (m=1...2 n-1 )item.

[0087] In formula (8), the symbol coefficient a m (m=1...2 n-1 ) has 2 n Items, and each m value corresponds to a m There are two terms, and each term in formula (8) has a positive and negative alternating pattern, so this pattern is combined with the symbol coefficient a m (m=1...2 n-1 ) are arranged together to obtain the vector In order to obtain this vector, construct the cancellation matrix C n :

[0088]

[0089] Cancellation matrix C n The matrix size is (2 n ,2 n-1 ).

[0090] C n With A n Performing matrix multiplication, we get:

[0091]

[0092] C n ×A n Can represent the 2 in formula (8) n symbol coefficient a m (m=1...2 n-1 ) is combined with alternating positive and negative transformations.

[0093] In formula (8), The fraction has 2 n The term is written in vector form as follows:

[0094]

[0095] By combining equations (11), (13) and (14), we can obtain:

[0096]

[0097] Among them, formula (15) is equal to formula (8) in terms of results, and the operator (.*) indicates that C n ×A n and K n ×Sa n Multiply the elements with the same index in . So far, we get the matrix form (15) of formula (8).

[0098] In order to extend the matrix form (15) to other time periods, each term in (14) is combined with the Heaviside function H j (t) multiply to form Get the vector:

[0099]

[0100] Among them, the Heaviside function H j (t) is the unit step function, which is defined as:

[0101]

[0102] When time t is in any time period [t z ,t z+1 ], in formula (16), H j (t) j=(0...z) is 1, so The item is retained, and H j (t) j=(z+1...2 n -1) is 0 value, The result of the calculation is 0. The new vector is then compared with [(C n ×A n )(.*)(K n ×Sa n )], we can get the time period pt in formula (6) z ,t z+1 [The corresponding expression.

[0103] To simplify formula (16), we use the function To express it. (16) can be written as:

[0104]

[0105] Among them, To represent vector

[0106] At this point, the matrix form (15) is changed from Expanding to any time period, we can obtain the complete matrix form of the FS curve:

[0107]

[0108] The above FS curve expression is established in matrix form The time segment point t j (j=0...2 n -1) and the magnitude vector Sa n is an unknown quantity. Among them, t j (j=0...2 n -1) is obtained from the vibration suppression optimization model in the following text; and Sa n By establishing the inherent constraint equations and solving them, the solution value is related to t i (i=0...2 n -1) is substituted into the variable value of t determined by the optimization model. j (j=0...2 n -1) to get the specific value of Sa n The specific value of .

[0109] The inherent constraint equations are established to obtain the inherent constraint conditions according to the changing trend of the FS curve, including:

[0110] For the third-order FS curve, there are four variables in Sa3=[S1,S2,S3,S4] that need to be solved. Figure 2 It can be seen that the 0th order curve is equal to the displacement value Q3 at time t7, the 1st order curve is equal to 0 at time t7, and the 2nd order curve is equal to 0 at times t3 and t7. Thus, four constraint equations are constructed as follows:

[0111]

[0112] For the 4th order FS curve, Sa4=[S1,S2,S3,S4,S5,S6,S7,S8[, there are 8 variables that need to be solved. Figure 3 It can be seen that the 0th order curve is at t 15 The moment is equal to the displacement value Q4, and the first-order curve is at t 15 The second-order curve is equal to 0 at t7 and t 15 The time is equal to 0, and the third-order curve is at t3, t7, t 11 , t 15 The time is equal to 0, and 8 constraint equations are constructed as follows:

[0113]

[0114] By summarizing, we can know that for the n-order FS curve, the 0th-order curve is The moment is equal to the displacement value Q n , the first-order curve is At time 0, the second-order curve is At time 0, the third-order curve is The moment is equal to 0, and so on, the i-th order curve is The time is equal to 0, where i ranges from 1 to n-1. The inherent constraint equations can be obtained by sorting:

[0115]

[0116] Combine equation (22) with equation (19) and transform it into a matrix form:

[0117]

[0118] Among them, [Q n 0 … 0] T For (2 n-1 ×1) column vector. Simplifying Equation (23) yields the solution matrix:

[0119]

[0120] in,

[0121]

[0122] The (.×) operator multiplies each item in the previous matrix by the next matrix. By solving the matrix (24), we can get Sa n The solution.

[0123] The above equation (24) describes the motion situation where both the initial velocity and the final velocity are 0. However, for rapid motion ① and rapid motion ②, since the motion conditions are different, the solution matrix established is also different. Specifically, it includes:

[0124] Case 1: For rapid motion ①, the final velocity value is the velocity value of the middle uniform speed detection segment, so the first-order curve is The time is equal to the speed value of the middle uniform speed detection section, and the following solution matrix is ​​established:

[0125]

[0126] where Q A is the displacement value of rapid motion ①, V d is the speed value of the middle uniform speed detection segment.

[0127] Case 2: For rapid motion ②, the initial velocity value is the velocity value of the middle uniform speed detection segment, and the final velocity value is 0. However, the solution of matrix (24) establishes the constraint situation where the initial velocity is 0 and the final velocity is an adjustable value. Therefore, in order to unify the constraint method, the velocity curve (first-order curve) of rapid motion ② is decomposed into two sub-curves, as follows: Figure 4 As shown, the initial speed is 0 and the final speed is -V d Sub-curve ③, the second is the constant speed V m Sub-curve ④. Based on sub-curve ③, the solution matrix is ​​established:

[0128]

[0129] where Q B1 is the displacement value obtained after integrating sub-curve ③, which is numerically equal to the difference between the displacement values ​​of rapid motion ② and sub-curve ④. The displacement of rapid motion ② is a known value, and the displacement of sub-curve ④ is easy to calculate.

[0130] Thus, the solution matrix of rapid motion ① and rapid motion ② is established. By solving equations (26) and (27), the Sa of each curve is obtained. n , substitute it into formula (6) or (19), then Only t left j (j=0...2 n -1) Not yet determined.

[0131] t j (j=0...2 n The specific value of -1) is determined by the vibration suppression optimization model.

[0132] Wherein, the vibration suppression optimization model includes:

[0133] In order to achieve rapid vibration suppression and positioning, the vibration suppression optimization model must meet three requirements: (1) the shortest time required to complete a rapid motion process (rapid motion ① or rapid motion ②); (2) taking into account the motion parameters of the drive actuator, such as maximum speed, maximum acceleration, etc.; (3) ensuring that the residual vibration can decay to a level that meets production requirements within a certain period of time.

[0134] The shortest time requirement for completing the rapid movement process is designed as follows:

[0135]

[0136] in is the termination moment of the motion curve, and Δt is the decay time of the residual vibration after the object to be inspected reaches the target position.

[0137] Taking into account the motion parameters of the drive actuator, constrain the velocity, acceleration and jerk of the motion profile:

[0138]

[0139] Where V max is the maximum speed of the drive, A max J is the maximum acceleration calculated based on the maximum current of the driver, the motor force constant and the platform load. max To evaluate V max 、A max The maximum jerk value obtained after

[0140] In order to ensure that the residual vibration can decay to meet the production requirements within a certain period of time, the residual vibration envelope method is used:

[0141] For rapid motion ①, the object to be inspected is in a uniform speed state at the end. Based on its velocity vibration characteristics, its residual velocity vibration is constrained and optimized. Its residual velocity vibration envelope is as follows:

[0142]

[0143] in and for After Laplace transformation, the output response is used as the input of the second-order elastic damping system, and the first and second derivatives are taken respectively, and finally the Laplace inverse transformation is performed to obtain ω; n is the natural frequency of the system.

[0144] To ensure that the residual velocity vibration of rapid motion ① decays to within the specified requirements within a certain period of time, the following velocity vibration constraints are established:

[0145]

[0146] Among them, V error is the maximum allowable value of the residual vibration velocity error.

[0147] For rapid motion ②, at the end of which the object to be inspected is in the final positioning stage, its residual positioning vibration is constrained and optimized, and its residual displacement vibration envelope is as follows:

[0148]

[0149] The y(t) generation process is the same as above and Similar, but the output response of the second-order system is obtained by directly performing the inverse Laplace transform.

[0150] To ensure that the residual positioning vibration of rapid motion ② decays to the specified level within a certain period of time, the following positioning vibration constraints are established:

[0151]

[0152] Among them, S error is the maximum allowable value of the residual vibration positioning error.

[0153] The vibration suppression optimization model is summarized as follows:

[0154] Design variable t j (j=0,1,...,2 n -1)

[0155] Optimization goal

[0156] Physical constraints

[0157] Vibration constraints

[0158] At this point, through the above optimization model formula (34), the t corresponding to rapid motion ① and rapid motion ② can be obtained. j (j=0...2 n -1)Specific value.

[0159] In practical applications, the "high speed-low uniform speed-high speed" motion process generated by the FS curve is encapsulated into an expression module about time t and embedded into the existing control card. n The value of t is obtained by solving matrices (26) and (27) j (j=0...2 n -1) instead, so only two rapid motion t j (j=0...2 n -1) specific value and substitute it into the expression module. Combined with the control cycle of the controller, the complete output instruction of the flying motion curve can be obtained.

[0160] The application of the optimization model and the process of generating the fly curve are as follows:

[0161] The physical parameters that need to be obtained by the vibration suppression optimization model are the system natural frequency parameters ω n , the system limit motion parameter V max 、A max and J max , and the maximum allowable value of the residual vibration velocity error V error The maximum allowable value S of the residual positioning vibration error after the flying motion ends error , where ωn Usually, it is obtained by measuring instruments such as vibration meters, V max 、A max and J max Determined by the performance of the driver and motor, V error and S error Determined according to actual production requirements.

[0162] First, the parameter ω n 、V max 、A max 、J max 、V error and S error Substituting into formula (34), after optimization calculation, we can obtain t corresponding to rapid motion ① and rapid motion ② respectively. j (j=0...2 n -1) specific value, recorded as tA j (j=0...2 n -1) and tB j (j=0...2 n -1).

[0163] Secondly, tA j (j=0...2 n -1) and tB j (j=0...2 n -1) is substituted into t in equation (26) and equation (27) respectively. j (j=0...2 n -1), we can get Sa of the corresponding curves of rapid motion ① and rapid motion ② respectively. n Value, denoted as SaA n and SaB n .

[0164] Next, the rapid movement tA j (j=0...2 n -1) and SaA n Substituting into equation (6) or equation (19), we can get the specific motion curve of rapid motion ①. Similarly, we can substitute tB of rapid motion ② j (j=0...2 n -1) and SaB n Substituting into equation (6) or equation (19), we can obtain the specific motion curve of rapid motion ②.

[0165] Finally, in order to realize the "high speed-low uniform speed-high speed" motion process of the flying shot detection, the specific motion curves of the rapid motion ① and the rapid motion ② are spliced ​​with the uniform speed motion of the low uniform speed detection segment (a horizontal straight line on the speed curve) to form the "rapid motion ①-intermediate uniform speed detection segment-rapid motion ②" form, which corresponds to the "high speed-low uniform speed-high speed" flying shot detection motion process proposed by the present invention. The splicing process is as follows on the speed curve: Figure 5 shown.

[0166] Example:

[0167] Example 1 of “high speed-low uniform speed-high speed” flying racket motion curve

[0168] In order to apply the flying motion curve to the actual system, the following data needs to be collected: the system natural frequency parameter ω n , the system limit motion parameter V max 、A max and J max , and the residual velocity vibration error V in the middle detection section error and the residual positioning vibration error S after the flying motion ends error . ,

[0169] The system quickly responds to vibration curves through the vibration meter acquisition system, such as Figure 6 As shown. Through analysis, the system natural frequency ω is obtained n is 21.01Hz.

[0170] System extreme motion parameter V max 、A max and J max Refer to the instruction manuals of the motor and driver, and take 1m / s and 22m / s respectively. 2 , 11000m / s 3 .

[0171] According to actual production requirements, the residual velocity vibration error V error and the residual positioning vibration error S after the flying motion ends error Take 15mm / s and 0.16mm respectively.

[0172] The parameter ω n =21.01Hz, V max =1m / s, A max =22m / s 2 、J max =11000m / s 3 、V error =15mm / s and S error=0.16mm is substituted into formula (34) to establish the following optimization model (taking the third-order FS curve as an example, that is, n is 3):

[0173] Design variable t j (j=0,1,...,7)

[0174] Optimization target min(t7+Δt)

[0175] Physical constraints

[0176] Vibration constraints

[0177] The complete displacement stroke of the flying motion is taken as 100 mm, of which the displacement strokes of rapid motion ① and rapid motion ② are set to 40 mm and 50 mm respectively, while the displacement of the intermediate uniform speed detection section is 10 mm and the speed is set to 20 mm / s.

[0178] After optimizing the vibration suppression optimization model, we can get the rapid motion ①3rd order FS curve time period tA j (j=0...7) and rapid motion②3rd order FS curve time period tB j (j=0...7):

[0179] Rapid movement <![CDATA[tA1 / tB1]]> <![CDATA[tA2 / tB2]]> <![CDATA[tA3 / tB3]]> <![CDATA[tA4 / tB4]]> <![CDATA[tA5 / tB5]]> <![CDATA[tA6 / tB6]]> <![CDATA[tA7 / tB7]]> ① 0.0020s 0.0442s 0.0468s 0.0469s 0.0532s 0.0935s 0.0955s ② 0.0020s 0.0446s 0.0466s 0.0491s 0.0511s 0.0946s 0.0966s

[0180] The default values ​​of tA1 and tB1 are 0.

[0181] tA j (j=0...7) and tB j Substituting (j=0...7) into equations (26) and (27), we obtain SaA3=[9067.596975.072810.428852.81] T and SaB3 = [10982.9310982.9310985.4610985.46] T .

[0182] Next, tA i (i=0...7) and SaA3=[9067.596975.072810.428852.81] T Substituting into formula (19) we can get the third-order FS curve expression of rapid motion ①:

[0183] The expression is as follows:

[0184]

[0185] and

[0186] The C3 expression is as follows:

[0187]

[0188] A3's expression is as follows:

[0189] A3=[1-1-11] T (39) K3 is expressed as follows:

[0190]

[0191] Substituting equations (37), (38), (39), (40) and the specific value of SaA3 into equation (36), we can obtain the FS curve expression of rapid motion ①:

[0192]

[0193] Then, in formula (41) Binding to tA j (j=0...7) specific values, we can get the exact FS curve of rapid motion①, and its motion curves from the 0th to the 3rd order (displacement, velocity, acceleration and jerk) are shown as follows: Figure 7 shown.

[0194] Similarly, the FS curve expression of rapid motion ② is obtained:

[0195]

[0196] The motion curves of rapid motion ② from the 0th to the 3rd order (displacement, velocity, acceleration and jerk) are as follows Figure 8 shown.

[0197] Finally, the motion curves generated by rapid motion ① and rapid motion ② are spliced ​​with the uniform motion of the intermediate uniform speed detection segment to form the form of "rapid motion ①-intermediate uniform speed detection segment-rapid motion ②", which corresponds to the "high speed-low uniform speed-high speed" flying shot detection motion process proposed by the present invention. The complete flying shot motion curve formed is as follows Figure 9 shown.

[0198] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A motion planning method for fly detection, characterized in that: include: The flying process is divided into a high-speed-low uniform speed-high-speed motion process, wherein the low uniform speed refers to the uniform motion of the object to be detected within the camera's working field of view; the first high speed refers to the rapid motion of the object to be detected from the starting position to the point where it enters the camera's working field of view (①), and the second high speed refers to the rapid motion of the object to be detected from the edge of the camera's working field of view to the target position (②); Obtain the inherent parameters of the flying detection motion system; Bring the inherent parameters of the system into the preset vibration suppression optimization model to obtain the FS curve time period tA corresponding to rapid motion ① and rapid motion ② respectively. i and tB i ; Using the FS curve time period tA i and tB i , and the FS curve matrix form of rapid motion ① and rapid motion ②, by establishing the inherent constraint equations, solve the time period tA i and tB i The corresponding amplitude vector SaA in the matrix form of the FS curve is n and SaB n ; Based on the FS curve time period tA i and tB i , amplitude vector SaA n and SaB n , determine the motion curve expressions of rapid motion ① and rapid motion ②; The motion curve expressions of rapid motion ① and rapid motion ② are spliced ​​with the uniform motion of the low uniform speed detection segment to obtain a complete motion planning curve.

2. The motion planning method for flying detection according to claim 1, characterized in that: The inherent parameters of the flying detection motion system include: System natural frequency ω n , the maximum speed of the drive in the system V max , the maximum acceleration of the drive A max , the maximum jerk value of the drive J max , the maximum allowable value of residual vibration velocity error V error , the maximum allowable value S of the residual positioning vibration error after the flying motion ends error .

3. The motion planning method for flying detection according to claim 2, characterized in that: The vibration suppression optimization model is expressed as: Design variable t j (j=0,1,...,2 n -1) Optimization goal Physical constraints Vibration constraints Among them, t j It represents the jth segment time point in the piecewise function form of the FS curve, n is the highest order of the FS curve, is the end time of the FS curve, and Δt is the decay time of the residual vibration after the object to be inspected reaches the target position; Indicates that the first-order FS curve is The value of the moment, Indicates that the second-order FS curve is The value of the moment, Indicates that the third-order FS curve is The value at the moment; ω n is the natural frequency of the system, Indicates the second-order elastic damping system under the FS curve input The response output at the moment, express The first derivative of express The second derivative of .

4. The motion planning method for flying detection according to claim 1, characterized in that: The FS curve matrix of the rapid motion ① and rapid motion ② is expressed as follows: Where n represents the highest order of the FS curve; The expression of the i-th order of the n-th order FS curve; Represents a vector C n represents the cancellation matrix; A n represents the symbolic coefficient vector; K n Represents the proliferation matrix; .* represents the multiplication of the elements with the same index position in the previous matrix and the next matrix, Sa n Represents a magnitude vector; vector in The expression is t is the time parameter, H j (t) is a unit step function.

5. The motion planning method for flying detection according to claim 4, characterized in that: For rapid motion①, the established inherent constraint equations are expressed as: in: Where Q A is the displacement value of rapid motion ①, V d is the speed value of the middle uniform speed detection section; Indicates the different moments The vector composed of Represents a vector k is the coefficient.

6. The motion planning method for flying detection according to claim 5, characterized in that: For rapid motion ②, its initial speed value is the speed value of the middle uniform speed detection segment, and the final speed value is 0; the speed curve of rapid motion ② is decomposed into two sub-curves, one with an initial speed of 0 and a final speed of -V d Sub-curve ③, the second is the constant speed V m Therefore, the inherent constraint equations based on sub-curve ③ are expressed as: where Q B1 is the displacement value obtained by integrating sub-curve ③, which is numerically equal to the difference between the displacement values ​​of rapid motion ② and sub-curve ④.

7. The motion planning method for flying detection according to claim 1, characterized in that: The FS curve time period tA i and tB i , amplitude vector SaA n and SaB n , determine the motion curve expressions of rapid motion ① and rapid motion ②, including: The rapid movement of tA i and SaA n 、The rapidly moving tB i and SaB n Substituting into the FS curve matrix form of rapid motion ① and rapid motion ②, the motion curve expressions of rapid motion ① and rapid motion ② are obtained.

8. A computer-readable storage medium storing a computer program; wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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