Speed ​​planning method, device and electronic equipment

Abstract

The present invention discloses a speed planning method, and a device, electronic device and storage medium for implementing the method. The method comprises: obtaining constraint conditions; calculating a first achievable displacement according to a starting speed, an ending speed, a positive profile speed, positive acceleration and negative acceleration constraints; determining a target displacement according to starting position and ending position constraints; judging whether the target displacement is greater than the first achievable displacement; if so, planning the speed according to a first planning method; if not, calculating a second achievable displacement according to a starting speed, an ending speed, positive acceleration and negative acceleration constraints; calculating a third achievable displacement according to a starting speed, an ending speed, a negative profile speed, positive acceleration and negative acceleration constraints; judging whether the target displacement is less than the second achievable displacement and the third achievable displacement; if so, planning the speed according to a second planning method; if not, planning the speed according to a third planning method.

Description

Technical Field

[0001] The present invention relates to the field of numerical control technology, and in particular to a speed planning method, device and electronic equipment. Background Art

[0002] T-curve velocity profile, referred to as T-curve velocity profile, is a time-optimal curve widely used by the industry for velocity planning. In the acceleration and deceleration motion of motor systems and control systems, in order to make the speed of the motor smoother, T-curve velocity profile is also used. For example, under the constraints of specified speed, acceleration and deceleration, T-curve velocity profile is used to make the motor move to a specified position at a smooth speed. However, the inventors found in the process of implementing the present invention that the existing T-curve velocity profile method, under the constraints of specified speed, acceleration and deceleration, makes the motor move to a specified position at a smooth speed. When the initial speed and the end speed of the motor are not 0, all possible situations are usually enumerated and processed separately. However, due to the large number of possible situations, there are 4 categories and 12 situations in total, which leads to a large amount of implementation code corresponding to the prior art. Therefore, the prior art also has the problems of occupying large storage space, long algorithm running time, time-consuming and labor-consuming when writing code, and difficult understanding and maintenance of the code in the later stage. Summary of the invention

[0003] The embodiments of the present invention provide a speed planning method, device and electronic device to solve the problems existing in the prior art, such as large code volume, large storage space occupation, long algorithm running time, time-consuming and labor-intensive code writing, and difficulty in understanding and maintaining the code at a later stage.

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present invention provides a speed planning method, the method comprising:

[0006] Obtaining constraint conditions; the constraint conditions include: starting position constraint, ending position constraint, starting speed constraint, ending speed constraint, positive profile speed constraint, reverse profile speed constraint, positive acceleration constraint and negative acceleration constraint; wherein the constraint value of the positive profile speed constraint is greater than or less than the constraint values ​​of the starting speed constraint and the ending speed constraint; the constraint value of the negative profile speed constraint is greater than or less than the constraint values ​​of the starting speed constraint and the ending speed constraint; the positive acceleration is an acceleration whose acceleration direction is the same as the velocity direction; the negative acceleration is an acceleration whose acceleration direction is opposite to the velocity direction;

[0007] Calculating a first achievable displacement according to the starting speed constraint, the ending speed constraint, the positive profile speed constraint, the positive acceleration constraint, and the negative acceleration constraint;

[0008] Determining a target displacement according to the starting position constraint and the ending position constraint;

[0009] determining whether the target displacement is greater than the first achievable displacement;

[0010] If yes, the speed is planned according to the preset planning method 1 to obtain the speed curve;

[0011] If not, calculate the second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint; calculate the third achievable displacement according to the starting speed constraint, the ending speed constraint, the negative profile speed constraint, the positive acceleration constraint and the negative acceleration constraint; determine whether the target displacement is less than the second achievable displacement and the third achievable displacement; if yes, plan the speed according to the preset planning method two to obtain the speed curve; if not, plan the speed according to the preset planning method three to obtain the speed curve.

[0012] Optionally, the step of calculating the first achievable displacement according to the starting speed constraint, the ending speed constraint, the positive profile speed constraint, the positive acceleration constraint and the negative acceleration constraint comprises:

[0013] Obtaining a starting speed, a ending speed, a positive profile speed, a positive acceleration and a negative acceleration from the starting speed constraint, the ending speed constraint, the positive profile speed constraint, the positive acceleration constraint and the negative acceleration constraint respectively;

[0014] When the positive profile speed is greater than both the starting speed and the ending speed, the displacement s1 of the execution component when the execution component is uniformly accelerated from the starting speed to the positive profile speed according to the positive acceleration;

[0015] Calculating the displacement s3 of the actuator when the actuator is decelerated uniformly from the positive profile speed to the terminal speed according to the negative acceleration;

[0016] When the positive profile speed is less than both the starting speed and the ending speed, the displacement s1 of the execution component when the execution component decelerates uniformly from the starting speed to the positive profile speed according to the negative acceleration;

[0017] Calculating the displacement s3 of the actuator when the actuator is uniformly accelerated from the positive profile velocity to the terminal velocity according to the positive acceleration;

[0018] The sum of the displacement s1 and the displacement s3 is determined as the first achievable displacement.

[0019] Optionally, the step of planning the speed according to the preset planning method 1 to obtain the speed curve includes:

[0020] Dividing the speed curve into three stages;

[0021] When the positive profile speed is greater than both the starting speed and the ending speed, the first stage is a stage in which the actuator is uniformly accelerated from the starting speed to the positive profile speed according to the positive acceleration, and the displacement of the first stage is s1;

[0022] The second stage is a stage in which the actuator moves at a uniform speed according to the forward profile speed. The displacement of the second stage is s2; wherein s2 = s - s1 - s3; the time required for the second stage is s is the target displacement; v p is the forward profile velocity;

[0023] The third stage is a stage in which the actuator is decelerated uniformly from the positive profile speed to the terminal speed according to the negative acceleration, and the displacement of the third stage is s3;

[0024] When the positive profile speed is less than both the starting speed and the ending speed, the first stage is a stage in which the actuator decelerates uniformly from the starting speed to the positive profile speed according to the negative acceleration, and the displacement of the first stage is s1;

[0025] The second stage is a stage in which the actuator moves at a uniform speed according to the forward profile speed. The displacement of the second stage is s2; wherein s2 = s - s1 - s3; the time required for the second stage is s is the target displacement; v p is the forward profile velocity;

[0026] The third stage is a stage in which the actuator is uniformly accelerated from the positive profile velocity to the terminal velocity according to the positive acceleration, and the displacement of the third stage is s3.

[0027] Optionally, the step of calculating the second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint comprises:

[0028] Obtaining a starting speed, a ending speed, a positive acceleration and a negative acceleration from the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint respectively;

[0029] When the starting speed is greater than the ending speed, the displacement s of the calculation execution component when it decelerates uniformly from the starting speed to the ending speed according to the negative acceleration is fast ;

[0030] When the starting speed is less than the ending speed, the displacement s of the execution component when it is uniformly accelerated from the starting speed to the ending speed according to the positive acceleration is calculated. fast ;

[0031] Confirm the displacement s fast is the second achievable displacement.

[0032] Optionally, the step of calculating a third achievable displacement according to the starting speed constraint, the ending speed constraint, the negative profile speed constraint, the positive acceleration constraint, and the negative acceleration constraint comprises:

[0033] Obtaining a starting speed, a ending speed, a negative contour speed, a positive acceleration and a negative acceleration from the starting speed constraint, the ending speed constraint, the negative contour speed constraint, the positive acceleration constraint and the negative acceleration constraint respectively;

[0034] When the negative profile velocity is greater than both the starting velocity and the ending velocity, the displacement s of the calculation execution component when it is uniformly accelerated from the starting velocity to the negative profile velocity according to the positive acceleration is -1 ;

[0035] Calculate the displacement s of the actuator when it decelerates uniformly from the negative profile speed to the terminal speed according to the negative acceleration. -3 ;

[0036] When the negative profile speed is less than both the starting speed and the ending speed, the displacement s of the calculation execution component when it decelerates uniformly from the starting speed to the negative profile speed according to the negative acceleration is -1 ;

[0037] Calculate the displacement s of the actuator when it is uniformly accelerated from the negative profile velocity to the terminal velocity according to the positive acceleration. -3 ;

[0038] The displacement s -1 and displacement s -3 The sum is determined as the third achievable displacement.

[0039] Optionally, the step of planning the speed according to the preset planning mode 2 to obtain the speed curve includes:

[0040] Dividing the speed curve into three stages;

[0041] When the negative profile velocity is greater than both the starting velocity and the ending velocity, the first stage is the stage in which the actuator is uniformly accelerated from the starting velocity to the negative profile velocity according to the positive acceleration, and the displacement of the first stage is s -1 ;

[0042] The second stage is the stage where the actuator moves at a uniform speed according to the negative profile speed. The displacement of the second stage is s -2 ; Among them, s -2 =s -1 +s -3 -s; the time required for the second stage s is the target displacement; -v p is the negative profile speed;

[0043] The third stage is the stage in which the actuator is decelerated uniformly from the negative profile velocity to the terminal velocity according to the negative acceleration. The displacement of the third stage is s -3 ;

[0044] When the negative profile speed is less than both the starting speed and the ending speed, the first stage is the stage in which the actuator decelerates uniformly from the starting speed to the negative profile speed according to the negative acceleration, and the displacement of the first stage is s -1 ;

[0045] The second stage is the stage where the actuator moves at a uniform speed according to the negative profile speed. The displacement of the second stage is s -2 ; Among them, s -2 =s -1 +s -3 -s; the time required for the second stage s is the target displacement; -v p is the negative profile speed;

[0046] The third stage is the stage in which the actuator is uniformly accelerated from the negative profile velocity to the terminal velocity according to the positive acceleration. The displacement of the third stage is s -3 .

[0047] Optionally, the step of planning the speed according to the preset planning mode three to obtain the speed curve includes:

[0048] When the initial speed and the final speed are both greater than zero, and the forward profile speed is greater than the initial speed and the final speed, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0049] According to the intermediate speed v m , dividing the speed curve into two stages;

[0050] The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration;

[0051] The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration;

[0052] When the initial speed and the final speed are both greater than zero, and the forward profile speed is less than the initial speed and the final speed, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0053] According to the intermediate speed v m , dividing the speed curve into two stages;

[0054] The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration;

[0055] The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration;

[0056] When the initial speed and the final speed are both greater than zero, and the target speed is less than the second achievable displacement, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0057] According to the intermediate speed v m , dividing the speed curve into two stages;

[0058] The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration;

[0059] The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration;

[0060] When the initial speed and the final speed are both less than zero, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0061] According to the intermediate speed v m , dividing the speed curve into two stages;

[0062] The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration;

[0063] The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration;

[0064] When the initial velocity is greater than zero, and the terminal velocity is less than zero, and the target displacement is greater than the second achievable displacement, and the forward profile velocity is greater than the initial velocity, the preset formula is used: Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0065] According to the intermediate speed v m , dividing the speed curve into two stages;

[0066] The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration;

[0067] The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration;

[0068] When the initial velocity is greater than zero, and the terminal velocity is less than zero, and the target displacement is less than the second achievable displacement, and the forward profile velocity is greater than the absolute value of the terminal velocity, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0069] According to the intermediate speed v m , dividing the speed curve into two stages;

[0070] The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration;

[0071] The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration;

[0072] When the initial velocity is less than zero, and the terminal velocity is greater than zero, and the target displacement is greater than the second achievable displacement, and the forward profile velocity is greater than the terminal velocity, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0073] According to the intermediate speed v m , dividing the speed curve into two stages;

[0074] The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration;

[0075] The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration;

[0076] When the initial velocity is less than zero, and the terminal velocity is greater than zero, and the target displacement is less than the second achievable displacement, and the forward profile velocity is greater than the absolute value of the initial velocity, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0077] According to the intermediate speed v m , dividing the speed curve into two stages;

[0078] The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration;

[0079] The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration.

[0080] In a second aspect, an embodiment of the present invention provides a speed planning device, the device comprising:

[0081] An acquisition module is used to acquire constraint conditions; the constraint conditions include: a starting position constraint, an ending position constraint, a starting speed constraint, an ending speed constraint, a positive profile speed constraint, a reverse profile speed constraint, a positive acceleration constraint, and a negative acceleration constraint; wherein the constraint value of the positive profile speed constraint is greater than or less than the constraint values ​​of the starting speed constraint and the ending speed constraint; the constraint value of the negative profile speed constraint is greater than or less than the constraint values ​​of the starting speed constraint and the ending speed constraint; the positive acceleration is an acceleration whose acceleration direction is the same as the velocity direction; the negative acceleration is an acceleration whose acceleration direction is opposite to the velocity direction;

[0082] a first calculation module, configured to calculate a first achievable displacement according to the starting speed constraint, the ending speed constraint, the positive profile speed constraint, the positive acceleration constraint, and the negative acceleration constraint;

[0083] A determination module, used to determine a target displacement according to the starting position constraint and the ending position constraint;

[0084] The first judgment module is used to judge whether the target displacement is greater than the first achievable displacement; if yes, the first planning module is started; if no, the second calculation module, the third calculation module and the second judgment module are started; wherein the first planning module is used to plan the speed according to the preset planning mode one to obtain the speed curve; the second calculation module is used to calculate the second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint; the third calculation module is used to calculate the third achievable displacement according to the starting speed constraint, the ending speed constraint, the negative profile speed constraint, the positive acceleration constraint and the negative acceleration constraint; the second judgment module is used to judge whether the target displacement is less than the second achievable displacement and the third achievable displacement; if yes, the second planning module is started; if no, the third planning module is started; the second planning module is used to plan the speed according to the preset planning mode two to obtain the speed curve; the third planning module is used to plan the speed according to the preset planning mode three to obtain the speed curve.

[0085] Optionally, the first computing module is specifically configured to:

[0086] Obtaining a starting speed, a ending speed, a positive profile speed, a positive acceleration and a negative acceleration from the starting speed constraint, the ending speed constraint, the positive profile speed constraint, the positive acceleration constraint and the negative acceleration constraint respectively;

[0087] When the positive profile speed is greater than both the starting speed and the ending speed, the displacement s1 of the execution component when the execution component is uniformly accelerated from the starting speed to the positive profile speed according to the positive acceleration;

[0088] Calculating the displacement s3 of the actuator when the actuator is decelerated uniformly from the positive profile speed to the terminal speed according to the negative acceleration;

[0089] When the positive profile speed is less than both the starting speed and the ending speed, the displacement s1 of the execution component when the execution component decelerates uniformly from the starting speed to the positive profile speed according to the negative acceleration;

[0090] Calculating the displacement s3 of the actuator when the actuator is uniformly accelerated from the positive profile velocity to the terminal velocity according to the positive acceleration;

[0091] The sum of the displacement s1 and the displacement s3 is determined as the first achievable displacement.

[0092] Optionally, the first planning module is specifically used to:

[0093] Dividing the speed curve into three stages;

[0094] When the positive profile speed is greater than both the starting speed and the ending speed, the first stage is a stage in which the actuator is uniformly accelerated from the starting speed to the positive profile speed according to the positive acceleration, and the displacement of the first stage is s1;

[0095] The second stage is a stage in which the actuator moves at a uniform speed according to the forward profile speed. The displacement of the second stage is s2; wherein s2 = s - s1 - s3; the time required for the second stage is s is the target displacement; v p is the forward profile velocity;

[0096] The third stage is a stage in which the actuator is decelerated uniformly from the positive profile speed to the terminal speed according to the negative acceleration, and the displacement of the third stage is s3;

[0097] When the positive profile speed is less than both the starting speed and the ending speed, the first stage is a stage in which the actuator decelerates uniformly from the starting speed to the positive profile speed according to the negative acceleration, and the displacement of the first stage is s1;

[0098] The second stage is a stage in which the actuator moves at a uniform speed according to the forward profile speed. The displacement of the second stage is s2; wherein s2 = s - s1 - s3; the time required for the second stage is s is the target displacement; v p is the forward profile velocity;

[0099] The third stage is a stage in which the actuator is uniformly accelerated from the positive profile velocity to the terminal velocity according to the positive acceleration, and the displacement of the third stage is s3.

[0100] Optionally, the second computing module is specifically configured to:

[0101] Obtaining a starting speed, a ending speed, a positive acceleration and a negative acceleration from the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint respectively;

[0102] When the starting speed is greater than the ending speed, the displacement s of the calculation execution component when it decelerates uniformly from the starting speed to the ending speed according to the negative acceleration is fast ;

[0103] When the starting speed is less than the ending speed, the displacement s of the execution component when it is uniformly accelerated from the starting speed to the ending speed according to the positive acceleration is calculated. fast ;

[0104] Confirm the displacement s fast is the second achievable displacement.

[0105] Optionally, the third calculation module is specifically used to:

[0106] Obtaining a starting speed, a ending speed, a negative contour speed, a positive acceleration and a negative acceleration from the starting speed constraint, the ending speed constraint, the negative contour speed constraint, the positive acceleration constraint and the negative acceleration constraint respectively;

[0107] When the negative profile velocity is greater than both the starting velocity and the ending velocity, the displacement s of the calculation execution component when it is uniformly accelerated from the starting velocity to the negative profile velocity according to the positive acceleration is -1 ;

[0108] Calculate the displacement s of the actuator when it decelerates uniformly from the negative profile speed to the terminal speed according to the negative acceleration. -3 ;

[0109] When the negative profile speed is less than both the starting speed and the ending speed, the displacement s of the calculation execution component when it decelerates uniformly from the starting speed to the negative profile speed according to the negative acceleration is -1 ;

[0110] Calculate the displacement s of the actuator when it is uniformly accelerated from the negative profile velocity to the terminal velocity according to the positive acceleration. -3 ;

[0111] The displacement s -1 and displacement s -3 The sum is determined as the third achievable displacement.

[0112] Optionally, the second planning module is specifically used to:

[0113] Dividing the speed curve into three stages;

[0114] When the negative profile velocity is greater than both the starting velocity and the ending velocity, the first stage is the stage in which the actuator is uniformly accelerated from the starting velocity to the negative profile velocity according to the positive acceleration, and the displacement of the first stage is s -1 ;

[0115] The second stage is the stage where the actuator moves at a uniform speed according to the negative profile speed. The displacement of the second stage is s -2 ; Among them, s -2 =s -1 +s -3-s; the time required for the second stage s is the target displacement; -v p is the negative profile speed;

[0116] The third stage is the stage in which the actuator is decelerated uniformly from the negative profile velocity to the terminal velocity according to the negative acceleration. The displacement of the third stage is s -3 ;

[0117] When the negative profile speed is less than both the starting speed and the ending speed, the first stage is the stage in which the actuator decelerates uniformly from the starting speed to the negative profile speed according to the negative acceleration, and the displacement of the first stage is s -1 ;

[0118] The second stage is the stage where the actuator moves at a uniform speed according to the negative profile speed. The displacement of the second stage is s -2 ; Among them, s -2 =s -1 +s -3 -s; the time required for the second stage s is the target displacement; -v p is the negative profile speed;

[0119] The third stage is the stage in which the actuator is uniformly accelerated from the negative profile velocity to the terminal velocity according to the positive acceleration. The displacement of the third stage is s -3 .

[0120] Optionally, the third planning module is specifically used to:

[0121] When the initial speed and the final speed are both greater than zero, and the forward profile speed is greater than the initial speed and the final speed, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0122] According to the intermediate speed v m, dividing the speed curve into two stages;

[0123] The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration;

[0124] The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration;

[0125] When the initial speed and the final speed are both greater than zero, and the forward profile speed is less than the initial speed and the final speed, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0126] According to the intermediate speed v m , dividing the speed curve into two stages;

[0127] The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration;

[0128] The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration;

[0129] When the initial speed and the final speed are both greater than zero, and the target speed is less than the second achievable displacement, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤ps When k = -1;

[0130] According to the intermediate speed v m , dividing the speed curve into two stages;

[0131] The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration;

[0132] The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration;

[0133] When the initial speed and the final speed are both less than zero, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0134] According to the intermediate speed v m , dividing the speed curve into two stages;

[0135] The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration;

[0136] The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration;

[0137] When the initial velocity is greater than zero, and the terminal velocity is less than zero, and the target displacement is greater than the second achievable displacement, and the forward profile velocity is greater than the initial velocity, the preset formula is used: Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when pe >p s When k = 1; when p e ≤p s When k = -1;

[0138] According to the intermediate speed v m , dividing the speed curve into two stages;

[0139] The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration;

[0140] The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration;

[0141] When the initial velocity is greater than zero, and the terminal velocity is less than zero, and the target displacement is less than the second achievable displacement, and the forward profile velocity is greater than the absolute value of the terminal velocity, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0142] According to the intermediate speed v m , dividing the speed curve into two stages;

[0143] The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration;

[0144] The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration;

[0145] When the initial velocity is less than zero, and the terminal velocity is greater than zero, and the target displacement is greater than the second achievable displacement, and the forward profile velocity is greater than the terminal velocity, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p sis the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0146] According to the intermediate speed v m , dividing the speed curve into two stages;

[0147] The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration;

[0148] The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration;

[0149] When the initial velocity is less than zero, and the terminal velocity is greater than zero, and the target displacement is less than the second achievable displacement, and the forward profile velocity is greater than the absolute value of the initial velocity, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0150] According to the intermediate speed v m , dividing the speed curve into two stages;

[0151] The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration;

[0152] The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration.

[0153] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0154] The memory is used to store computer programs;

[0155] The processor is used to implement the method steps of speed planning described in the first aspect when executing the program stored in the memory.

[0156] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps of speed planning described in the first aspect are implemented.

[0157] The speed planning method provided in the embodiment of the present invention can divide all possible situations into 10 situations. Compared with the prior art that has 12 situations only when the initial speed and the final speed of the motor can be non-zero, the method provided in the embodiment of the present invention greatly reduces the classification situations, and thus the amount of implementation code corresponding to the method provided in the embodiment of the present invention is only one-fifth of the amount of implementation code corresponding to the prior art; therefore, the method provided in the embodiment of the present invention solves the problems of the prior art, such as large amount of code, large storage space occupied, long algorithm running time, time-consuming and labor-intensive code writing, and difficulty in understanding and maintaining the code in the later stage.

[0158] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0159] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0160] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0161] Figure 1 A schematic diagram of a flow chart of a speed planning method provided by an embodiment of the present invention;

[0162] Figure 2 It is a running track schematic diagram of the actuator when the initial speed and the terminal speed are both greater than zero and the forward contour speed is greater than the initial speed and the terminal speed;

[0163] Figure 3A schematic diagram of a running trajectory of the execution component when the initial speed and the final speed are both greater than zero and the forward profile speed is less than the initial speed and the final speed;

[0164] Figure 4 A schematic diagram of a running trajectory of the actuator when the initial speed and the final speed are both greater than zero and the target speed is less than the second achievable displacement;

[0165] Figure 5 A schematic diagram of a running trajectory of an actuator when both the initial speed and the final speed are less than zero;

[0166] Figure 6 A schematic diagram of a running trajectory of the actuator when the initial speed is greater than zero, the terminal speed is less than zero, the target displacement is greater than the second achievable displacement, and the forward profile speed is greater than the initial speed;

[0167] Figure 7 A schematic diagram of a running trajectory of the actuator when the initial speed is greater than zero, the terminal speed is less than zero, the target displacement is less than the second achievable displacement, and the positive profile speed is greater than the absolute value of the terminal speed;

[0168] Figure 8 A schematic diagram of a running trajectory of the actuator when the initial speed is less than zero and the terminal speed is greater than zero and the target displacement is greater than the second achievable displacement and the forward profile speed is greater than the terminal speed;

[0169] Fig. 9 A schematic diagram of a running trajectory of the actuator when the initial speed is less than zero, the terminal speed is greater than zero, the target displacement is less than the second achievable displacement, and the forward profile speed is greater than the absolute value of the initial speed;

[0170] Fig.10 A schematic diagram of the structure of a speed planning device provided by an embodiment of the present invention;

[0171] Fig.11 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0172] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0173] The purpose of speed planning is to obtain a smoother speed curve so that the initial speed of the actuator set by the user can change continuously and smoothly to the terminal speed.

[0174] Figure 1A flow chart of a speed planning method provided by an embodiment of the present invention is shown in FIG. 1 . The speed planning method provided by an embodiment of the present invention is a T-type speed planning method, such as Figure 1 As shown, the method includes:

[0175] S101: Obtaining constraint conditions; the constraint conditions include: starting position constraint, ending position constraint, starting speed constraint, ending speed constraint, positive contour speed constraint, reverse contour speed constraint, positive acceleration constraint and negative acceleration constraint;

[0176] Among them, the constraint value of the positive contour velocity constraint is greater than or less than the constraint value of the starting velocity constraint and the ending velocity constraint; the constraint value of the negative contour velocity constraint is greater than or less than the constraint value of the starting velocity constraint and the ending velocity constraint; the positive acceleration is the acceleration whose direction is the same as the velocity direction; the negative acceleration is the acceleration whose direction is opposite to the velocity direction.

[0177] The constraint conditions are the constraints set by the user for the starting position, ending position, starting speed, ending speed, positive profile speed, reverse profile speed, positive acceleration and negative acceleration when executing the movement of the component.

[0178] Acceleration is the speed of speed change, that is, the amount of speed increase or decrease per second, which is called acceleration. Acceleration is a vector, which has a direction. In the embodiment of the present invention, if the direction of acceleration is the same as the direction of speed, it is positive acceleration, and if the direction of acceleration is opposite to the direction of speed, it is negative acceleration.

[0179] The method provided in the embodiment of the present invention can be applied to a motor, wherein the forward profile speed is the maximum speed of the motor when the motor rotates forward as required by the user; and the reverse profile speed is the maximum speed of the motor when the motor rotates reversely as required by the user.

[0180] S102: Calculate a first achievable displacement according to a starting speed constraint, an ending speed constraint, a positive profile speed constraint, a positive acceleration constraint, and a negative acceleration constraint;

[0181] In a specific embodiment, the step of calculating the first achievable displacement according to the starting speed constraint, the ending speed constraint, the positive profile speed constraint, the positive acceleration constraint, and the negative acceleration constraint may include:

[0182] Obtain the starting speed, ending speed, positive contour speed, positive acceleration and negative acceleration from the starting speed constraint, ending speed constraint, positive contour speed constraint, positive acceleration constraint and negative acceleration constraint respectively;

[0183] When the positive profile speed is greater than both the starting speed and the ending speed, the displacement s1 of the execution component when it is uniformly accelerated from the starting speed to the positive profile speed according to the positive acceleration is calculated;

[0184] Calculate the displacement s3 that the actuator travels when it decelerates uniformly from the positive profile velocity to the terminal velocity according to the negative acceleration;

[0185] When the positive profile speed is less than the starting speed and the ending speed, the displacement s1 of the execution component when it decelerates uniformly from the starting speed to the positive profile speed according to the negative acceleration is calculated;

[0186] Calculate the displacement s3 that the actuator travels when it is uniformly accelerated from the positive profile velocity to the terminal velocity according to the positive acceleration;

[0187] The sum of displacement s1 and displacement s3 is determined as the first achievable displacement.

[0188] S103: Determine the target displacement according to the starting position constraint and the ending position constraint;

[0189] In a specific embodiment, the step of determining the target displacement according to the starting position constraint and the ending position constraint may include:

[0190] Obtain the starting position and ending position from the starting position constraint and ending position constraint respectively;

[0191] The absolute value of the difference between the end position and the start position is determined as the target displacement.

[0192] For example, p e is the end position, p s is the starting position, then the target displacement s=|p e -p s |.

[0193] S104: Determine whether the target displacement is greater than the first achievable displacement; if yes, execute step S105; if no, execute step S106;

[0194] If the target displacement is greater than the first achievable displacement, it means that the movement speed of the actuator can reach the positive profile speed v set by the user. p ; At this time, the speed planning can be divided into three stages. The first stage: the execution component is at the initial speed v s Change to positive contour speed v p The second stage: the actuator follows the positive profile speed v p The third stage: the actuator moves from the positive profile velocity v p Change to terminal speed v e If the target displacement is not greater than the first achievable displacement, it means that the movement speed of the actuator cannot reach the positive profile speed v set by the user. p; At this point, it can be further determined whether the movement speed of the actuator can reach the negative contour speed -v set by the user p If the movement speed of the actuator can neither reach the positive profile speed nor the negative profile speed, it means that after the movement speed of the actuator changes from the initial speed to an intermediate speed through uniform acceleration / deceleration, it must immediately change from the intermediate speed to the terminal speed through uniform deceleration / acceleration, and this intermediate speed is smaller than the positive profile speed and the negative profile speed.

[0195] S105: planning the speed according to the preset planning method 1 to obtain a speed curve;

[0196] Specifically, according to the preset planning method 1, the step of planning the speed and obtaining the speed curve may include:

[0197] Divide the speed curve into three stages;

[0198] When the positive profile speed is greater than both the starting speed and the ending speed, the first stage is the stage in which the actuator is uniformly accelerated from the starting speed to the positive profile speed according to the positive acceleration, and the displacement of the first stage is s1;

[0199] The second stage is the stage where the actuator moves at a uniform speed according to the positive profile speed. The displacement of the second stage is s2; where s2 = s-s1-s3; the time required for the second stage s is the target displacement; v p is the positive profile speed;

[0200] The third stage is the stage in which the actuator decelerates uniformly from the positive contour speed to the terminal speed according to the negative acceleration, and the displacement of the third stage is s3;

[0201] When the positive profile speed is less than the starting speed and the ending speed, the first stage is the stage in which the actuator decelerates uniformly from the starting speed to the positive profile speed according to the negative acceleration, and the displacement of the first stage is s1;

[0202] The second stage is the stage where the actuator moves at a uniform speed according to the positive profile speed. The displacement of the second stage is s2; where s2 = s-s1-s3; the time required for the second stage s is the target displacement; v p is the positive profile speed;

[0203] The third stage is the stage in which the actuator is uniformly accelerated from the positive contour velocity to the terminal velocity according to the positive acceleration, and the displacement of the third stage is s3.

[0204] S106: Calculating a second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint, and the negative acceleration constraint;

[0205] The step of calculating the second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint, and the negative acceleration constraint may include:

[0206] Obtain the starting speed, ending speed, positive acceleration and negative acceleration from the starting speed constraint, ending speed constraint, positive acceleration constraint and negative acceleration constraint respectively;

[0207] When the starting speed is greater than the ending speed, calculate the displacement s that the execution component travels when it decelerates uniformly from the starting speed to the ending speed according to the negative acceleration. fast ;

[0208] When the starting speed is less than the ending speed, calculate the displacement s of the execution component when it is accelerated uniformly from the starting speed to the ending speed according to the positive acceleration. fast ;

[0209] Confirm displacement s fast is the second achievable displacement.

[0210] S107: Calculate a third achievable displacement according to the starting speed constraint, the ending speed constraint, the negative profile speed constraint, the positive acceleration constraint, and the negative acceleration constraint;

[0211] Specifically, the step of calculating the third achievable displacement according to the starting speed constraint, the ending speed constraint, the negative profile speed constraint, the positive acceleration constraint, and the negative acceleration constraint may include:

[0212] Obtain the starting speed, ending speed, negative contour speed, positive acceleration and negative acceleration from the starting speed constraint, ending speed constraint, negative contour speed constraint, positive acceleration constraint and negative acceleration constraint respectively;

[0213] When the negative profile velocity is greater than both the starting velocity and the ending velocity, the displacement s of the execution component when it is uniformly accelerated from the starting velocity to the negative profile velocity according to the positive acceleration is calculated. -1 ;

[0214] Calculate the displacement s of the actuator when it decelerates uniformly from the negative contour speed to the terminal speed according to the negative acceleration -3 ;

[0215] When the negative profile speed is less than the starting speed and the ending speed, the displacement s of the calculation execution component when it decelerates uniformly from the starting speed to the negative profile speed according to the negative acceleration is -1 ;

[0216] Calculate the displacement s of the actuator when it is accelerated uniformly from the negative contour velocity to the terminal velocity according to the positive acceleration. -3 ;

[0217] The displacement s -1 and displacement s -3 The sum is confirmed as the third achievable displacement.

[0218] S108: Determine whether the target displacement is less than the second achievable displacement and the third achievable displacement; if yes, execute step S109; if no, execute step S110;

[0219] If the target displacement is smaller than both the second achievable displacement and the third achievable displacement, it means that the movement speed of the actuator needs to be reversed, that is, move in the opposite direction of the original movement direction; and the movement speed after the reverse movement can reach the negative profile speed -v set by the user p ; At this time, the speed planning can be divided into three stages. The first stage: the execution component is at the initial speed v s Change to negative contour speed -v p The second stage: the actuator follows the negative contour speed -v p The third stage: the actuator moves from the negative contour speed -v p Change to terminal speed v e If the target displacement is not less than the second achievable displacement and / or the third achievable displacement, it means that the speed of the actuator after the reverse movement speed cannot reach the negative profile speed -v set by the user. p ; At this time, the relationship between the initial speed and terminal speed of the execution component and 0 can be further determined.

[0220] S109: planning the speed according to the preset planning method 2 to obtain a speed curve;

[0221] Specifically, according to the preset planning method 2, the steps of planning the speed and obtaining the speed curve may include:

[0222] Divide the speed curve into three stages;

[0223] When the negative profile velocity is greater than both the starting velocity and the ending velocity, the first stage is the stage in which the actuator is uniformly accelerated from the starting velocity to the negative profile velocity according to the positive acceleration. The displacement of the first stage is s -1 ;

[0224] The second stage is the stage where the actuator moves at a uniform speed according to the negative contour velocity. The displacement of the second stage is s -2 ; Among them, s -2 =s -1 +s -3 -s; the time required for the second stage s is the target displacement; -v p is the negative contour speed;

[0225] The third stage is the stage where the actuator decelerates uniformly from the negative contour velocity to the terminal velocity according to the negative acceleration. The displacement of the third stage is s -3 ;

[0226] When the negative profile speed is less than the starting speed and the ending speed, the first stage is the stage in which the actuator decelerates uniformly from the starting speed to the negative profile speed according to the negative acceleration. The displacement of the first stage is s -1 ;

[0227] The second stage is the stage where the actuator moves at a uniform speed according to the negative contour velocity. The displacement of the second stage is s -2 ; Among them, s -2 =s -1 +s -3 -s; the time required for the second stage s is the target displacement; -v p is the negative contour speed;

[0228] The third stage is the stage where the actuator is accelerated uniformly from the negative contour velocity to the terminal velocity according to the positive acceleration. The displacement of the third stage is s -3 .

[0229] S110: Plan the speed according to the preset planning method three to obtain a speed curve.

[0230] Specifically, according to the preset planning method three, the steps of planning the speed and obtaining the speed curve may include:

[0231] When the initial speed and the final speed are both greater than zero, and the forward contour speed is greater than the initial speed and the final speed, the preset formula is used. Calculate the intermediate speed v m ; Where s is the target displacement; p e is the end position; p s is the starting position; v s is the initial velocity; v e is the terminal velocity; accel is positive acceleration; decel is negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1;

[0232] According to the intermediate speed v m , the speed curve is divided into two stages;

[0233] The first stage is the stage in which the actuator is uniformly accelerated from the initial speed to the intermediate speed according to the positive acceleration;

[0234] The second stage is the stage where the actuator decelerates uniformly from the intermediate speed to the terminal speed according to negative acceleration;

[0235] When the initial speed and the final speed are both greater than zero, and the forward contour speed is less than the initial speed and the final speed, the preset formula is used. Calculate the intermediate speed v m ;

[0236] According to the intermediate speed v m , the speed curve is divided into two stages;

[0237] The first stage is the stage where the actuator decelerates uniformly from the initial speed to the intermediate speed according to negative acceleration;

[0238] The second stage is the stage in which the actuator is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration;

[0239] When the initial velocity and the final velocity are both greater than zero, and the target velocity is less than the second achievable displacement, the preset formula is used. Calculate the intermediate speed v m ;

[0240] According to the intermediate speed v m , the speed curve is divided into two stages;

[0241] The first stage is the stage where the actuator decelerates uniformly from the initial speed to the intermediate speed according to negative acceleration;

[0242] The second stage is the stage in which the actuator is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration;

[0243] When both the initial velocity and the final velocity are less than zero, the preset formula is used Calculate the intermediate speed v m ;

[0244] According to the intermediate speed v m , the speed curve is divided into two stages;

[0245] The first stage is the stage in which the actuator is uniformly accelerated from the initial speed to the intermediate speed according to the positive acceleration;

[0246] The second stage is the stage where the actuator decelerates uniformly from the intermediate speed to the terminal speed according to negative acceleration;

[0247] When the initial velocity is greater than zero, and the terminal velocity is less than zero, and the target displacement is greater than the second achievable displacement, and the forward profile velocity is greater than the initial velocity, the preset formula is used. Calculate the intermediate speed v m ;

[0248] According to the intermediate speed v m , the speed curve is divided into two stages;

[0249] The first stage is the stage in which the actuator is uniformly accelerated from the initial speed to the intermediate speed according to the positive acceleration;

[0250] The second stage is the stage where the actuator decelerates uniformly from the intermediate speed to the terminal speed according to negative acceleration;

[0251] When the initial velocity is greater than zero, and the terminal velocity is less than zero, and the target displacement is less than the second achievable displacement, and the positive profile velocity is greater than the absolute value of the terminal velocity, the preset formula is used.

[0252] Calculate the intermediate speed v m ;

[0253] According to the intermediate speed v m , the speed curve is divided into two stages;

[0254] The first stage is the stage where the actuator decelerates uniformly from the initial speed to the intermediate speed according to negative acceleration;

[0255] The second stage is the stage in which the actuator is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration;

[0256] When the initial velocity is less than zero, and the terminal velocity is greater than zero, and the target displacement is greater than the second achievable displacement, and the positive profile velocity is greater than the terminal velocity, the preset formula is used. Calculate the intermediate speed v m ;

[0257] According to the intermediate speed v m , the speed curve is divided into two stages;

[0258] The first stage is the stage in which the actuator is uniformly accelerated from the initial speed to the intermediate speed according to the positive acceleration;

[0259] The second stage is the stage where the actuator decelerates uniformly from the intermediate speed to the terminal speed according to negative acceleration;

[0260] When the initial velocity is less than zero, and the terminal velocity is greater than zero, and the target displacement is less than the second achievable displacement, and the positive profile velocity is greater than the absolute value of the initial velocity, the preset formula is used.

[0261] Calculate the intermediate speed v m ;

[0262] According to the intermediate speed v m , the speed curve is divided into two stages;

[0263] The first stage is the stage where the actuator decelerates uniformly from the initial speed to the intermediate speed according to negative acceleration;

[0264] The second stage is the stage in which the actuator is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration.

[0265] In a specific embodiment, the running trajectory of the execution component is when the initial speed and the terminal speed are both greater than zero, and the forward profile speed is greater than the initial speed and the terminal speed, such as Figure 2 As shown; among them, Figure 2 The target displacement in the illustrated embodiment is Figure 2 The area of ​​the shaded part.

[0266] The running trajectory of the execution component is when the initial speed and the final speed are both greater than zero, and the forward contour speed is less than the initial speed and the final speed, such as Figure 3 As shown; among them, Figure 3 The target displacement in the illustrated embodiment is Figure 3 The area of ​​the shaded part.

[0267] The running trajectory of the actuator when the initial speed and the final speed are both greater than zero and the target speed is less than the second achievable displacement, such as Figure 4 As shown; among them, Figure 4 The target displacement in the illustrated embodiment is Figure 4 The area of ​​the shaded part.

[0268] When both the initial speed and the final speed are less than zero, the running trajectory of the execution component is as follows: Figure 5 As shown; among them, Figure 5 The target displacement in the illustrated embodiment is Figure 5 The area of ​​the shaded part.

[0269] The running trajectory of the component is executed when the initial speed is greater than zero, the terminal speed is less than zero, the target displacement is greater than the second achievable displacement, and the forward profile speed is greater than the initial speed, such as Figure 6 As shown; among them, Figure 6 The target displacement in the illustrated embodiment is Figure 6 The area of ​​the shaded part.

[0270] The running trajectory of the component is executed when the initial speed is greater than zero and the terminal speed is less than zero and the target displacement is less than the second achievable displacement and the positive profile speed is greater than the absolute value of the terminal speed, such as Figure 7 As shown; among them, Figure 7 The target displacement in the illustrated embodiment is Figure 7 The area of ​​the shaded part.

[0271] The running trajectory of the execution component is when the initial speed is less than zero and the final speed is greater than zero and the target displacement is greater than the second achievable displacement and the positive profile speed is greater than the final speed, such as Figure 8 As shown; among them, Figure 8 The target displacement in the illustrated embodiment is Figure 8 The area of ​​the shaded part.

[0272] The running trajectory of the component is executed when the initial speed is less than zero and the final speed is greater than zero and the target displacement is less than the second achievable displacement and the positive profile speed is greater than the absolute value of the initial speed, such as Fig. 9 As shown; among them, Fig. 9 The target displacement in the illustrated embodiment is Fig. 9 The area of ​​the shaded part.

[0273] In summary, the speed planning method provided in the embodiment of the present invention can realize dividing all possible situations into 10 situations. Compared with the prior art in which there are 12 situations only when the initial speed and the final speed of the motor can be non-zero, the method provided in the embodiment of the present invention greatly reduces the classification situations, and thus the amount of implementation code corresponding to the method provided in the embodiment of the present invention is only one-fifth of the amount of implementation code corresponding to the prior art; therefore, the method provided in the embodiment of the present invention solves the problems of the prior art, such as large amount of code, large storage space occupied, long algorithm running time, time-consuming and labor-intensive code writing, and difficulty in understanding and maintaining the code in the later stage.

[0274] and Figure 1 Corresponding to the embodiment shown, the embodiment of the present invention also provides a speed planning device. Fig.10 As shown, the device includes: an acquisition module 1001, a first calculation module 1002, a determination module 1003, a first judgment module 1004, a first planning module 1005, a second calculation module 1006, a third calculation module 1007, a second judgment module 1008, a second planning module 1009, and a third planning module 1010, wherein:

[0275] The acquisition module 1001 is used to acquire constraint conditions; the constraint conditions include: starting position constraint, ending position constraint, starting speed constraint, ending speed constraint, positive contour speed constraint, reverse contour speed constraint, positive acceleration constraint and negative acceleration constraint; wherein, the constraint value of the positive contour speed constraint is greater than or less than the constraint values ​​of the starting speed constraint and the ending speed constraint; the constraint value of the negative contour speed constraint is greater than or less than the constraint values ​​of the starting speed constraint and the ending speed constraint; positive acceleration is acceleration with the same acceleration direction as the velocity direction; negative acceleration is acceleration with the opposite acceleration direction as the velocity direction;

[0276] A first calculation module 1002 is used to calculate a first achievable displacement according to a starting speed constraint, an ending speed constraint, a positive profile speed constraint, a positive acceleration constraint, and a negative acceleration constraint;

[0277] A determination module 1003, used to determine a target displacement according to a starting position constraint and an ending position constraint;

[0278] The first judgment module 1004 is used to judge whether the target displacement is greater than the first achievable displacement; if yes, the first planning module 1005 is started; if not, the second calculation module 1006, the third calculation module 1007 and the second judgment module 1008 are started; wherein the first planning module 1005 is used to plan the speed according to the preset planning method 1 to obtain the speed curve; the second calculation module 1006 is used to calculate the second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint; the third calculation module 1007 is used to calculate the second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint; the third calculation module 1007 is used to calculate the second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint; the third calculation module 1008 ... The starting speed constraint, the ending speed constraint, the negative contour speed constraint, the positive acceleration constraint and the negative acceleration constraint are used to calculate the third achievable displacement; the second judgment module 1008 is used to judge whether the target displacement is less than the second achievable displacement and the third achievable displacement; if so, the second planning module 1009 is started; if not, the third planning module 1010 is started; the second planning module 1009 is used to plan the speed according to the preset planning method two and obtain the speed curve; the third planning module 1010 is used to plan the speed according to the preset planning method three and obtain the speed curve.

[0279] The speed planning device provided in the embodiment of the present invention can divide all possible situations into 10 situations. Compared with the prior art that has 12 situations only when the initial speed and the final speed of the motor can be non-zero, the device provided in the embodiment of the present invention greatly reduces the classification situations, and thus the amount of implementation code corresponding to the method provided in the embodiment of the present invention is only one-fifth of the amount of implementation code corresponding to the prior art; therefore, the application of the device provided in the embodiment of the present invention can solve the problems of the prior art, such as large amount of code, large storage space occupied, long algorithm running time, time-consuming and labor-intensive code writing, and difficulty in understanding and maintaining the code in the later stage.

[0280] and Figure 1 Corresponding to the embodiment shown, the embodiment of the present invention further provides an electronic device, see Fig.11 , including a processor 1101, a communication interface 1102, a memory 1103 and a communication bus 1104, wherein the processor 1101, the communication interface 1102, and the memory 1103 communicate with each other via the communication bus 1104;

[0281] Memory 1103, used for storing computer programs;

[0282] The processor 1101 is used to implement any of the speed planning method steps described in the above embodiments when executing the program stored in the memory.

[0283] The electronic device provided by the embodiment of the present invention can classify all possible situations into 10 situations. Compared with the prior art that has 12 situations only when the initial speed and the final speed of the motor can be non-zero, the electronic device provided by the embodiment of the present invention greatly reduces the classification situations, and thus the amount of implementation code corresponding to the method provided by the embodiment of the present invention is only one-fifth of the amount of implementation code corresponding to the prior art; therefore, the application of the electronic device provided by the embodiment of the present invention can solve the problems of the prior art, such as large amount of code, large storage space occupied, long algorithm running time, time-consuming and labor-intensive code writing, and difficulty in understanding and maintaining the code in the later stage.

[0284] and Figure 1 Corresponding to the embodiment shown, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method steps of any speed planning described in the above embodiments are implemented.

[0285] The storage medium provided in the embodiment of the present invention can classify all possible situations into 10 situations. Compared with the prior art that has 12 situations only when the initial speed and the final speed of the motor can be non-0, the storage medium provided in the embodiment of the present invention greatly reduces the classification situations, and thus the amount of implementation code corresponding to the method provided in the embodiment of the present invention is only one-fifth of the amount of implementation code corresponding to the prior art; therefore, the application of the storage medium provided in the embodiment of the present invention can solve the problems of the prior art, such as large amount of code, large storage space occupied, long algorithm running time, time-consuming and labor-intensive code writing, and difficulty in understanding and maintaining the code in the later stage.

[0286] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0287] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0288] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0289] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0290] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A speed planning method, characterized in that: The method comprises: Obtaining constraint conditions; the constraint conditions include: starting position constraint, ending position constraint, starting speed constraint, ending speed constraint, positive profile speed constraint, negative profile speed constraint, positive acceleration constraint and negative acceleration constraint; wherein the constraint value of the positive profile speed constraint is greater than or less than the constraint values ​​of the starting speed constraint and the ending speed constraint; the constraint value of the negative profile speed constraint is greater than or less than the constraint values ​​of the starting speed constraint and the ending speed constraint; the positive acceleration is an acceleration whose acceleration direction is the same as the velocity direction; the negative acceleration is an acceleration whose acceleration direction is opposite to the velocity direction; Calculating a first achievable displacement according to the starting speed constraint, the ending speed constraint, the positive profile speed constraint, the positive acceleration constraint, and the negative acceleration constraint; Determining a target displacement according to the starting position constraint and the ending position constraint; determining whether the target displacement is greater than the first achievable displacement; If yes, the speed is planned according to the preset planning method 1 to obtain the speed curve; If not, calculate the second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint; calculate the third achievable displacement according to the starting speed constraint, the ending speed constraint, the negative profile speed constraint, the positive acceleration constraint and the negative acceleration constraint; determine whether the target displacement is less than the second achievable displacement and the third achievable displacement; if yes, plan the speed according to the preset planning method two to obtain the speed curve; if not, plan the speed according to the preset planning method three to obtain the speed curve.

2. The method according to claim 1, characterized in that The step of calculating the first achievable displacement according to the starting speed constraint, the ending speed constraint, the positive profile speed constraint, the positive acceleration constraint and the negative acceleration constraint comprises: Obtaining a starting speed, a ending speed, a positive profile speed, a positive acceleration and a negative acceleration from the starting speed constraint, the ending speed constraint, the positive profile speed constraint, the positive acceleration constraint and the negative acceleration constraint respectively; When the positive profile speed is greater than both the starting speed and the ending speed, the displacement s1 of the execution component when the execution component is uniformly accelerated from the starting speed to the positive profile speed according to the positive acceleration; Calculating the displacement s3 of the actuator when the actuator is decelerated uniformly from the positive profile speed to the terminal speed according to the negative acceleration; When the positive profile speed is less than both the starting speed and the ending speed, the displacement s1 of the execution component when the execution component decelerates uniformly from the starting speed to the positive profile speed according to the negative acceleration; Calculating the displacement s3 of the actuator when the actuator is uniformly accelerated from the positive profile velocity to the terminal velocity according to the positive acceleration; The sum of the displacement s1 and the displacement s3 is determined as the first achievable displacement.

3. The method according to claim 1, characterized in that The step of planning the speed according to the preset planning method 1 to obtain the speed curve includes: Dividing the speed curve into three stages; When the positive profile speed is greater than both the starting speed and the ending speed, the first stage is a stage in which the actuator is uniformly accelerated from the starting speed to the positive profile speed according to the positive acceleration, and the displacement of the first stage is s1; The second stage is a stage in which the actuator moves at a uniform speed according to the forward profile speed. The displacement of the second stage is s2; wherein s2 = s - s1 - s3; the time required for the second stage is s is the target displacement; v p is the forward profile velocity; The third stage is a stage in which the actuator uniformly decelerates from the positive profile speed to the terminal speed according to the negative acceleration, and the displacement of the third stage is s3; When the positive profile speed is less than both the starting speed and the ending speed, the first stage is a stage in which the actuator decelerates uniformly from the starting speed to the positive profile speed according to the negative acceleration, and the displacement of the first stage is s1; The second stage is a stage in which the actuator moves at a uniform speed according to the forward profile speed. The displacement of the second stage is s2; wherein s2 = s - s1 - s3; the time required for the second stage is s is the target displacement; v p is the forward profile velocity; The third stage is a stage in which the actuator is uniformly accelerated from the positive profile velocity to the terminal velocity according to the positive acceleration, and the displacement of the third stage is s3.

4. The method according to claim 1, characterized in that: The step of calculating the second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint comprises: Obtaining a starting speed, a ending speed, a positive acceleration and a negative acceleration from the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint respectively; When the starting speed is greater than the ending speed, the displacement s of the calculation execution component when it decelerates uniformly from the starting speed to the ending speed according to the negative acceleration is fast ; When the starting speed is less than the ending speed, the displacement s of the execution component when it is uniformly accelerated from the starting speed to the ending speed according to the positive acceleration is calculated. fast ; Confirm the displacement s fast is the second achievable displacement.

5. The method according to claim 1, characterized in that: The step of calculating a third achievable displacement according to the starting speed constraint, the ending speed constraint, the negative profile speed constraint, the positive acceleration constraint and the negative acceleration constraint comprises: Obtaining a starting speed, a ending speed, a negative contour speed, a positive acceleration and a negative acceleration from the starting speed constraint, the ending speed constraint, the negative contour speed constraint, the positive acceleration constraint and the negative acceleration constraint respectively; When the negative profile velocity is greater than both the starting velocity and the ending velocity, the displacement s of the calculation execution component when it is uniformly accelerated from the starting velocity to the negative profile velocity according to the positive acceleration is -1 ; Calculate the displacement s of the actuator when it decelerates uniformly from the negative profile speed to the terminal speed according to the negative acceleration. -3 ; When the negative profile speed is less than both the starting speed and the ending speed, the displacement s of the calculation execution component when it decelerates uniformly from the starting speed to the negative profile speed according to the negative acceleration is -1 ; Calculate the displacement s of the actuator when it is uniformly accelerated from the negative profile velocity to the terminal velocity according to the positive acceleration. -3 ; The displacement s -1 and displacement s -3 The sum is determined as the third achievable displacement.

6. The method according to claim 1, characterized in that The step of planning the speed according to the preset planning method 2 to obtain the speed curve includes: Dividing the speed curve into three stages; When the negative profile speed is greater than both the starting speed and the ending speed, the first stage is the stage in which the actuator is uniformly accelerated from the starting speed to the negative profile speed according to the positive acceleration, and the displacement of the first stage is s -1 ; The second stage is the stage where the actuator moves at a uniform speed according to the negative profile speed. The displacement of the second stage is s -2 ; Among them, s -2 =s -1 +s -3 -s; the time required for the second stage s is the target displacement; -v p is the negative profile speed; The third stage is the stage in which the actuator decelerates uniformly from the negative profile velocity to the terminal velocity according to the negative acceleration. The displacement of the third stage is s -3 ; When the negative profile speed is less than both the starting speed and the ending speed, the first stage is the stage in which the actuator decelerates uniformly from the starting speed to the negative profile speed according to the negative acceleration, and the displacement of the first stage is s -1 ; The second stage is the stage where the actuator moves at a uniform speed according to the negative profile speed. The displacement of the second stage is s -2 ; Among them, s -2 =s -1 +s -3 -s; the time required for the second stage s is the target displacement; -v p is the negative profile speed; The third stage is the stage in which the actuator is uniformly accelerated from the negative profile velocity to the terminal velocity according to the positive acceleration. The displacement of the third stage is s -3 .

7. The method according to claim 1, characterized in that The step of planning the speed according to the preset planning method three and obtaining the speed curve includes: When the starting speed and the ending speed are both greater than zero, and the forward profile speed is greater than the starting speed and the ending speed, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the starting speed; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1; According to the intermediate speed v m , dividing the speed curve into two stages; The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration; The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration; When the starting speed and the ending speed are both greater than zero, and the forward profile speed is less than the starting speed and the ending speed, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the starting speed; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1; According to the intermediate speed v m , dividing the speed curve into two stages; The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration; The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration; When the starting speed and the ending speed are both greater than zero, and the target displacement is less than the second achievable displacement, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the starting speed; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1; According to the intermediate speed v m , dividing the speed curve into two stages; The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration; The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration; When the starting speed and the ending speed are both less than zero, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the starting speed; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1; According to the intermediate speed v m , dividing the speed curve into two stages; The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration; The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration; When the starting speed is greater than zero, and the ending speed is less than zero, and the target displacement is greater than the second achievable displacement, and the forward profile speed is greater than the starting speed, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the starting speed; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1; According to the intermediate speed v m , dividing the speed curve into two stages; The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration; The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration; When the starting speed is greater than zero, and the ending speed is less than zero, and the target displacement is less than the second achievable displacement, and the forward profile speed is greater than the absolute value of the ending speed, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the starting speed; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1; According to the intermediate speed v m , dividing the speed curve into two stages; The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration; The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration; When the starting speed is less than zero, and the ending speed is greater than zero, and the target displacement is greater than the second achievable displacement, and the forward profile speed is greater than the ending speed, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the starting speed; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1; According to the intermediate speed v m , dividing the speed curve into two stages; The first stage is a stage in which the execution component is uniformly accelerated from the starting speed to the intermediate speed according to the positive acceleration; The second stage is a stage in which the execution component decelerates uniformly from the intermediate speed to the terminal speed according to the negative acceleration; When the starting speed is less than zero, and the ending speed is greater than zero, and the target displacement is less than the second achievable displacement, and the forward profile speed is greater than the absolute value of the starting speed, the preset formula is used. Calculate the intermediate speed v m ; Wherein, s is the target displacement; p e is the end position; p s is the starting position; v s is the starting speed; v e is the terminal velocity; accel is the positive acceleration; decel is the negative acceleration; when p e >p s When k = 1; when p e ≤p s When k = -1; According to the intermediate speed v m , dividing the speed curve into two stages; The first stage is a stage in which the execution component decelerates uniformly from the starting speed to the intermediate speed according to the negative acceleration; The second stage is a stage in which the execution component is uniformly accelerated from the intermediate speed to the terminal speed according to the positive acceleration.

8. A speed planning device, characterized in that: The device comprises: An acquisition module is used to acquire constraint conditions; the constraint conditions include: a starting position constraint, an ending position constraint, a starting speed constraint, an ending speed constraint, a positive profile speed constraint, a negative profile speed constraint, a positive acceleration constraint, and a negative acceleration constraint; wherein the constraint value of the positive profile speed constraint is greater than or less than the constraint values ​​of the starting speed constraint and the ending speed constraint; the constraint value of the negative profile speed constraint is greater than or less than the constraint values ​​of the starting speed constraint and the ending speed constraint; the positive acceleration is an acceleration whose acceleration direction is the same as the velocity direction; the negative acceleration is an acceleration whose acceleration direction is opposite to the velocity direction; a first calculation module, configured to calculate a first achievable displacement according to the starting speed constraint, the ending speed constraint, the positive profile speed constraint, the positive acceleration constraint, and the negative acceleration constraint; A determination module, used to determine a target displacement according to the starting position constraint and the ending position constraint; The first judgment module is used to judge whether the target displacement is greater than the first achievable displacement; if yes, the first planning module is started; if no, the second calculation module, the third calculation module and the second judgment module are started; wherein the first planning module is used to plan the speed according to the preset planning mode one to obtain the speed curve; the second calculation module is used to calculate the second achievable displacement according to the starting speed constraint, the ending speed constraint, the positive acceleration constraint and the negative acceleration constraint; the third calculation module is used to calculate the third achievable displacement according to the starting speed constraint, the ending speed constraint, the negative profile speed constraint, the positive acceleration constraint and the negative acceleration constraint; the second judgment module is used to judge whether the target displacement is less than the second achievable displacement and the third achievable displacement; if yes, the second planning module is started; if no, the third planning module is started; the second planning module is used to plan the speed according to the preset planning mode two to obtain the speed curve; the third planning module is used to plan the speed according to the preset planning mode three to obtain the speed curve.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method steps described in any one of claims 1 to 7 when executing the program stored in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 1 to 7 are implemented.

Images