S-shaped seven-segment speed planning method, device, storage medium and computer program

Abstract

The application discloses an S-shaped seven-segment speed planning method and device, a storage medium and a computer program. In the speed planning process of each cycle of a system, the actual motion parameters of the system in the last cycle are combined. Firstly, a displacement planning formula is used to plan the time required for the system to move to an end point in the current cycle, and the displacement of the motion in the current cycle is planned. Then, the starting speed and the starting acceleration of the motion in the current cycle are planned by using a dichotomy method under a speed planning formula, so that the time and the displacement of the system motion to the end point under the speed planning formula are equal to the time and the displacement planned under the displacement planning formula. In the case that the starting speed and the starting acceleration are used as the starting speed of the S-shaped seven-segment speed planning algorithm, the actual motion curve of the system is smoother, vibration of a machine tool is avoided, and the quality of a processed product is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of S-type seven-segment speed planning, and particularly relates to an S-type seven-segment speed planning method, device, storage medium and computer program. BACKGROUND

[0002] In a numerical control system, the motion of a servo axis of the system is determined by speed planning. Common speed planning algorithms include trigonometric functions, polynomials, T-shaped straight line acceleration and deceleration, S-type seven-segment speed planning, fifteen-segment speed planning, etc. In some motion scenarios, multiple speed planning algorithms are used in combination, so the starting parameters of the speed planning may not be 0. For such a use scenario, because the models of each speed planning algorithm are inconsistent, the starting parameters of the speed planning can only use the parameters of the motion of the system. The displacement of each period of motion of the system represents the speed of the system, and the difference between the speed of the system and the speed of the previous period represents the acceleration of the system. In the case of directly using the parameters of the system as the starting speed of the S-type seven-segment speed planning algorithm, a large error will occur, which makes the efficiency of the motion of the system and the speed curve not smooth enough, and is likely to cause vibration of the machine tool, which is not conducive to ensuring the quality of the processed product. SUMMARY

[0003] In view of the deficiencies of the prior art described above, the present application provides an S-type seven-segment speed planning method, device, storage medium and computer program, which can use a more appropriate starting speed and starting acceleration for speed planning, so that the actual speed curve of the system is smoother.

[0004] The embodiment adopts the following technical solutions:

[0005] An S-type seven-segment speed planning method includes the following steps:

[0006] Obtaining the actual end speed and the actual end acceleration of the system in the previous period;

[0007] Planning the time required for the motion of the system to the end point in the current period and the displacement of the motion of the system in the current period under a displacement planning formula;

[0008] Planning the starting speed and the starting acceleration of the motion of the system in the current period under a speed planning formula by bisection, so that the time and the displacement of the motion of the system to the end point are equal to the time and the displacement planned under the displacement planning formula, respectively.

[0009] Further, in the S-type seven-segment speed planning method, the displacement planning formula is:

[0010] 加 Speed a = a 系 + jt

[0011]

[0012] wherein v 系 is the actual end velocity of the system in the last cycle, a 系 is the actual end acceleration of the system in the last cycle, j is in the range of [-j max , j max ], j max is the maximum jerk of the system, and t is the cycle time.

[0013] Further, in the S-shaped seven-segment velocity planning method, the step of planning the time required for the system to move to the end point in the current cycle and the displacement of the current cycle movement under the displacement planning formula comprises:

[0014] calculating the shortest time required for the system to move to the end point in the current cycle under the planning of the displacement planning formula as T 总1 , and planning the displacement S1 = v 系 + a 系 + j1 of the current cycle movement, wherein j1 is the jerk of the system under the displacement planning formula and is in the range of [-j max , j max ].

[0015] Further, in the S-shaped seven-segment velocity planning method, the velocity planning formula is:

[0016] a = a 系 + y + j t

[0017]

[0018] wherein x is the velocity variable, y is the acceleration variable, v 系 is the actual end velocity of the system in the last cycle, a 系 is the actual end acceleration of the system in the last cycle, j is in the range of [-j max , j max ], j max is the maximum jerk of the system, and t is the cycle time.

[0019] Further, in the S-shaped seven-segment velocity planning method, the step of planning the initial velocity and the initial acceleration of the current cycle movement under the velocity planning formula by the bisection method so that the time and the displacement of the system moving to the end point are equal to the time and the displacement planned under the displacement planning formula comprises:

[0020] calculating the shortest time required for the system to move to the end point in the current cycle under the planning of the velocity planning formula as T 总2 , and planning the displacement wherein j2 is the jerk of the system under the velocity planning formula, and the value range is [-j max , j max ].

[0021] Further, in the S-shaped seven-segment velocity planning method, the step of planning the initial velocity and the initial acceleration of the current period motion by bisection under the velocity planning formula, so that the time and displacement of the system moving to the end point are equal to the time and displacement planned under the displacement planning formula, comprises:

[0022] Suppose that the initial velocity of the current period motion planned by the velocity planning formula is V0=v 系 +x, and the initial acceleration is a0=a 系 +y, let x start from the minimum value in the value range [-|a 系 |, |a 系 |] and y start from the minimum value in the value range [-j max , j max ], and calculate x and y that satisfy the conditions T y =T 总1 , S y =S1 by bisection, wherein T 总1 is the shortest time calculated by the displacement planning formula for the system to move to the end point in the current period, and S1 is the displacement of the system in the current period planned by the displacement planning formula.

[0023] Further, in the S-shaped seven-segment velocity planning method, the step of planning the initial velocity and the initial acceleration of the current period motion by bisection under the velocity planning formula, so that the time and displacement of the system moving to the end point are equal to the time and displacement planned under the displacement planning formula, comprises:

[0024] Suppose that x has three values: x1=-|a 系 |, x2=0, and x3=|a 系 |, and y has three values: y1=-j max , y2=0, and y3=j max , first let x=x1, and under the conditions y=y1, y=y2, and y=y3, the time of the system moving to the end point in the current period is T y1 , T y2 , and T y3 , respectively, obtained by the velocity planning formula, when x1=-|a 系 | and y1=-j max , T y1 >T 总1 , and a judgment step is performed.

[0025] Judgment step: respectively judge T y1 , Ty2 , T y3 and T 总1 ;

[0026] If T y1 >T 总1 , T y2 >T 总1 , T y3 >T 总1 , if x=x1 then x=x2, if x=x2 then x1=x2, Let x=x3, y1=-j max , y2=0, y3=j max , recalculate T y1 , T y2 , T y3 , and perform the decision step;

[0027] If T y1 >T 总1 , T y2 T 总1 , T y3 T 总1 , let y1=y1, y3=y2, recalculate T y1 , T y2 , T y3 , and perform the decision step;

[0028] If T y1 >T 总1 , T y2 >T 总1 , T y3 T 总1 , let y1=y2, y3=y3, recalculate T y1 , T y2 , T y3 , and perform the decision step;

[0029] If T y1 T 总1 , T y2 T 总1 , T y3 T 总1 , if x=x2 then x1=x1, x3=x2, if x=x3 then x=x2, y1=-j max , y2=0, y3=j max , let x=x2, recalculate T y1 , T y2 , T y3 for y=y1, y=y2, y=y3, respectively, and perform the decision step;

[0030] If T y = T 总1 , S y <S1, let x1 = x, x3 = |a 系 |, x2 = x Let x = x2, recalculate T y1 , T y2 , T y3 respectively at y = y1, y = y2, y = y3, and execute the judgment step.

[0031] If T y = T 总1 , S y >S1, let x1 = -|a 系 |, x3 = x, Let x = x2, recalculate T y1 , T y2 , T y3 respectively at y = y1, y = y2, y = y3, and execute the judgment step.

[0032] Finally, the values of x and y are calculated when T y = T 总1 and S y = S1, at this time the initial speed is V0 = v 系 +x, the initial acceleration a0 = a 系 +y.

[0033] An S-shaped seven-segment speed planning device, comprising a processor and a memory; the memory is used to store a computer program, the computer program comprises program instructions; the processor is used to call the computer program to realize the above-mentioned S-shaped seven-segment speed planning method.

[0034] A computer readable storage medium, the storage medium has a computer program stored therein, the computer program is executed by a processor to realize the steps of the above-mentioned S-shaped seven-segment speed planning method.

[0035] A computer program product, the computer program product has computer instructions stored therein, the computer instructions are executed by a processor to realize the steps of the above-mentioned S-shaped seven-segment speed planning method.

[0036] Compared with the prior art, the S-shaped seven-segment speed planning method, device, storage medium and computer program provided by the application can combine the actual motion parameters of the system in the last period in the speed planning process of each period of the system, first plan the time required for the system to move to the end point in the current period through a displacement planning formula, and then plan the displacement of the current period motion, and then plan the starting speed and starting acceleration of the current period motion through bisection under the speed planning formula, so that the time and displacement of the system motion to the end point under the speed planning formula are equal to the time and displacement planned under the displacement planning formula. Under the condition that the foregoing starting speed and starting acceleration are used as the starting speed of the S-shaped seven-segment speed planning algorithm, the actual motion curve of the system can be smoother, vibration of the machine tool can be avoided, and the quality of the processed product can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 The flowchart of the S-shaped seven-segment speed planning method provided by the application.

[0038] Figure 2 The structural block diagram of the S-shaped seven-segment speed planning device provided by the application. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects of the application clearer and more apparent, the application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the application and do not limit the application.

[0040] In the following description, specific details are set forth such as specific system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the application. However, it should be apparent to those skilled in the art that other embodiments of the application can be practiced without such specific details. In other instances, well-known systems, devices, circuits, and methods have been described in detail to avoid unnecessary detail.

[0041] It should be understood that when used in the specification and the appended claims of the application, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0042] It should also be understood that the term "and / or" used in the specification and the appended claims of the application means any combination of one or more of the associated listed items and all possible combinations thereof, and includes these combinations.

[0043] In addition, in the description of the present application and the appended claims, the terms "first", "second", "third", etc. are used only to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0044] Reference to "one embodiment" or "some embodiments" or "one implementation" or "some implementations" or "one example" or "some examples" described in the present application means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearance of the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in additional embodiments", and the like appearing in various places throughout the specification are not necessarily all referring to the same embodiment, but can refer to one or more but not all embodiments, unless otherwise specifically stated. The terms "comprising", "including", "having" and their conjugates mean "including but not limited to", unless otherwise specifically stated.

[0045] In a numerical control system, the motion of the servo axis of the system is determined by the S-shaped seven-segment speed planning. Common S-shaped seven-segment speed planning algorithms include trigonometric functions, polynomials, T-shaped straight line acceleration and deceleration, S-shaped seven-segment speed planning, fifteen-segment S-shaped seven-segment speed planning, etc. In some motion scenarios, multiple S-shaped seven-segment speed planning algorithms are used together, so the starting parameters of the S-shaped seven-segment speed planning may not be 0. For this use scenario, since each S-shaped seven-segment speed planning algorithm model is inconsistent, the starting parameters of the S-shaped seven-segment speed planning can only use the parameters of the system motion. The displacement of the system in each cycle represents the speed of the system, and the difference between the speed of the system and the speed of the previous cycle represents the acceleration of the system. Therefore, the displacement of the system cannot be directly used as the starting speed of the S-shaped seven-segment speed planning algorithm. In order to ensure the efficiency of the system motion and the smoothness of the speed curve, the present application provides an S-shaped seven-segment speed planning method, which can convert the speed and acceleration of the system into the S-shaped seven-segment speed planning of the S-shaped seven-segment speed planning.

[0046] Please refer to Figure 1 The S-shaped seven-segment speed planning method provided by the present application comprises the steps of:

[0047] S10, obtaining the actual end speed and actual end acceleration of the system in the last cycle;

[0048] S20, planning the time required for the system to move to the end point in the current cycle under the displacement planning formula, and planning the displacement of the current cycle;

[0049] S30, planning the starting speed and starting acceleration of the current cycle motion under the speed planning formula by bisection method, so that the time and displacement of the system motion to the end point are equal to the time and displacement planned under the displacement planning formula.

[0050] In the speed planning process of each cycle of the system, the actual motion parameters of the system in the last cycle are combined, the time required for the system to move to the end point in the current cycle is planned through the displacement planning formula, and the displacement of the current cycle is planned, then the starting speed and the starting acceleration of the current cycle are planned through the dichotomy under the speed planning formula, so that the time and the displacement of the system moving to the end point under the speed planning formula are equal to the time and the displacement planned under the displacement planning formula, and the actual motion curve of the system is smoother, the vibration of the machine tool is avoided, and the quality of the processed product is ensured.

[0051] In specific implementation, the system can send instructions to the servo system, the servo system needs to control the system motion in a cycle, and the actual displacement of the system motion in the current cycle can be fed back, that is, the actual motion displacement of the system is calculated by subtracting the difference between the motor feedback coordinates read in the current cycle and the motor feedback coordinates read in the last cycle.

[0052] Similarly, the actual motion speed of the system is calculated from the motor feedback coordinates in the current cycle, and the acceleration of the system is calculated from the difference between the actual motion speed in the current cycle and the actual motion speed in the last cycle.

[0053] In step S20, the displacement planning formula can be specifically:

[0054] Acceleration a=a 系 +jt

[0055]

[0056] Wherein, V 系 is the actual end point speed of the system in the last cycle, a 系 is the actual end point acceleration of the system in the last cycle, the value range of j is [-j max , j max ], j max is the maximum jerk of the system, and t is the cycle time.

[0057] Through the above displacement planning formula, the shortest time required for the system to move to the end point in the current cycle can be calculated as T 总1 , and the displacement S1=v 系 +a 系 +j1 of the current cycle is planned, wherein j1 is the jerk of the system under the displacement planning formula, and the value range is [-j max , j max ].

[0058] Of course, other displacement planning formulas can also be used in other embodiments, which are not limited in the application.

[0059] In step S30, the speed planning formula used can be specifically as follows:

[0060] a = a 系 + jy + jt

[0061]

[0062] wherein x is a speed variable, y is an acceleration variable, v 系 is the actual end speed of the system in the last period, a 系 is the actual end acceleration of the system in the last period, j is in the range of [-j max , j max ], j max is the maximum jerk of the system, and t is the period time.

[0063] Through the above speed planning formula, the shortest time T 总2 required for the system to move to the end of the current period can be calculated, and the displacement S2 of the current period movement can be planned as follows: wherein j2 is the jerk of the system under the speed planning formula, and is in the range of [-j max , j max ].

[0064] At this time, T 总2 = T 总1 and S2 = S1 must be satisfied, and then the starting speed v0 and the starting acceleration a0 of the current period movement can be obtained.

[0065] In step S30, the steps of planning the starting speed v0 and the starting acceleration a0 of the current period movement by the dichotomy method include:

[0066] Suppose that the starting speed of the current period movement planned by the speed planning formula is v0 = v 系 + x, and the starting acceleration is a0 = a 系 + y, let x start from the minimum value in the value interval [-|a 系 |, |a 系 |] and y start from the minimum value in the value interval [-j max , j max , and the values of x and y satisfying the conditions of T y = T 总1 and S y = S1 are calculated by the dichotomy method.

[0067] The specific steps of the dichotomy method are as follows:

[0068] Suppose that the value of x is selected from three values: x1 = -|a 系|, x2=0, x3=|a 系 |, y has three values: y1=-j max , y2=0, y3=j max , first let x=x1, in the case of y=y1, y=y2 and y=y3, the time of the system moving to the end point in the current period is T y1 , T y2 and T y3 respectively by the speed planning formula, when x1=-|a 系 | and y1=-j max , T y1 >T 总1 , execute the judgment step;

[0069] Judgment step: judge the size of T y1 , T y2 , T y3 and T 总1 respectively;

[0070] If T y1 >T 总1 , T y2 >T 总1 , T y3 >T 总1 , if x=x1, let x=x2, if x=x2, x1=x2, let x=x3, y1=-j max , y2=0, y3=j max , recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0071] If T y1 >T 总1 , T y2 T 总1 , T y3 T 总1 , let y1=y1, y3=y2, recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0072] If T y1 >T 总1 , T y2 >T 总1 , T y3 T 总1 , let y1=y2, y3=y3, recalculate T y1 , T y2 , Ty3 , execute the judgment step;

[0073] If T y1 <T 总1 , T y2 <T 总1 , T y3 <T 总1 , if x=x2, then x1=x1, x3=x2, If x=x3, then x=x2, y1=-j max , y2=0, y3=j max , let x=x2, recalculate T y1 , T y2 , T y3 respectively when y=y1, y=y2, y=y3, execute the judgment step;

[0074] If T y =T 总1 , S y <S1, let x1=x, x3=|a 系 |, Let x=x2, recalculate T y1 , T y2 , T y3 respectively when y=y1, y=y2, y=y3, execute the judgment step;

[0075] If T y =T 总1 , S y >S1, let x1=-|a 系 |, x3=x, Let x=x2, recalculate T y1 , T y2 , T y3 respectively when y=y1, y=y2, y=y3, execute the judgment step;

[0076] Finally, the values of x and y are calculated when T y =T 总1 and S y =S1. At this time, in the S-shaped seven-segment speed planning algorithm of the current period of the system, by adopting the starting speed v0=v 系 +x and the starting acceleration a0=a 系 +y, the actual motion curve of the system can be made more smooth, the vibration of the machine tool can be avoided, and the quality of the processed product can be ensured.

[0077] The application also provides an S-shaped seven-segment speed planning device, please refer to Figure 2 The S-shaped seven-segment speed planning device comprises at least one processor A1, a communication bus A2, a memory A3, and at least one communication interface A4.

[0078] The processor A1 can be a general central processing unit (CPU), a network processor (NP), a microprocessor, or can be one or more integrated circuits used to implement the schemes of the present application, such as an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0079] The communication bus A2 is used to transmit information between the above components. The communication bus A2 can be divided into an address bus, a data bus, a control bus, and the like. For the convenience of representation, Figure 2 In the figure, only one thick line is used to represent, but it does not mean that there is only one bus or one type of bus.

[0080] The memory A3 can be a read-only memory (ROM), a random access memory (RAM), an electrically erasable programmable read-only memory (EEPROM), an optical disk (including a compact disc read-only memory (CD-ROM), a compressed disk, a laser disk, a digital versatile disk, a Blu-ray disk, and the like), a magnetic disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but not limited to. The memory A3 can exist independently and be connected to the processor A1 through the communication bus A2. The memory A3 can also be integrated with the processor A1.

[0081] The communication interface A4 uses any device such as a transceiver to communicate with other devices or communication networks. The communication interface A4 includes a wired communication interface and can also include a wireless communication interface. The wired communication interface can be, for example, an Ethernet interface. The Ethernet interface can be an optical interface, an electrical interface, or a combination thereof. The wireless communication interface can be a wireless local area networks (WLAN) interface, a cellular network communication interface, or a combination thereof, etc.

[0082] In implementation, the processor A1 can include one or more CPUs.

[0083] In implementation, the S-shaped seven-segment speed planning device can include multiple processors. Each of the processors can be a single-core processor or a multi-core processor. The processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0084] In implementation, as an embodiment, the S-shaped seven-segment speed planning device can further include an output device A5 and an input device A6. The output device A5 communicates with the processor A1 and presents various calculation result data or information in the form of numbers, characters, images, sounds, etc. For example, the output device A5 can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector, etc. The input device A6 communicates with the processor A1 and can receive user input in various ways. For example, the input device A6 can be a mouse, a keyboard, a touch screen device, or other sensing devices, etc.

[0085] In some embodiments, the memory A3 is used to store program code A7 for implementing the scheme of the present application, and the processor A1 can execute the program code A7 stored in the memory A3. The program code A7 can include one or more software modules, and the S-shaped seven-segment speed planning device can implement the S-shaped seven-segment speed planning method provided in the foregoing embodiments by means of the processor A1 and the program code A7 in the memory A3.

[0086] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (for example: coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example: infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium accessible by a computer, or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (for example: floppy disk, hard disk, magnetic tape), an optical medium (for example: digital versatile disc (DVD)) or a semiconductor medium (for example: solid state disk (SSD)) and the like. It should be noted that the computer readable storage medium mentioned in the embodiments of the present application can be a non-volatile storage medium, in other words, it can be a non-transitory storage medium.

[0087] The present application also provides a computer readable storage medium having instructions stored therein, which, when executed on a computer, cause the computer to perform the steps of the S-shaped seven-segment speed planning method described above.

[0088] The present application also provides a computer program product containing instructions, which, when executed on a computer, cause the computer to perform the steps of the S-shaped seven-segment speed planning method described above. Alternatively, a computer program is provided, which, when executed on a computer, causes the computer to perform the steps of the S-shaped seven-segment speed planning method described above.

[0089] It can be understood that, for those skilled in the art, equivalent substitutions or changes can be made according to the technical solutions and application concepts of the present application, and all such changes or substitutions shall fall within the protection scope of the claims attached to the present application.

Claims

1. A S-shaped seven-segment velocity planning method, characterized in that, The method comprises the steps of: acquiring actual end speed and actual end acceleration of the system in a previous cycle; planning time required for the system to move to an end point in a current cycle and planning displacement of the system in the current cycle according to a displacement planning formula; planning initial speed and initial acceleration of the system in the current cycle by dichotomy according to a speed planning formula, so that time and displacement of the system moving to the end point are equal to the time and displacement planned according to the displacement planning formula respectively; the displacement planning formula is: acceleration speed displacement wherein, is the actual end speed of the system in the previous cycle, is the actual end acceleration of the system in the previous cycle, is in the range of , is the maximum jerk of the system, and t is the cycle time. the speed planning formula is: wherein, is a velocity variable, is an acceleration variable, is the actual end velocity of the system in the previous cycle, is the actual end acceleration of the system in the previous cycle, is in the range , is the maximum jerk of the system, and t is the cycle time.

2. The S-shaped seven-segment velocity planning method of claim 1, wherein, the step of planning time required for the system to move to an end point in a current cycle and planning displacement of the system in the current cycle according to a displacement planning formula comprises: The shortest time required for the system to move to the end point under the displacement planning formula in the current cycle is calculated as , and the displacement of the current cycle is planned as , wherein is the jerk of the system under the displacement planning formula, and the value range is .

3. The S-shaped seven-segment velocity planning method of claim 1, wherein, the step of planning initial speed and initial acceleration of the system in the current cycle by dichotomy according to a speed planning formula, so that time and displacement of the system moving to the end point are equal to the time and displacement planned according to the displacement planning formula respectively comprises: The shortest time required for the system to move to the end point under the planning of the velocity planning formula is calculated as and the displacement of the current period motion is planned as wherein is the jerk of the system under the velocity planning formula, and the value range is .

4. The S-shaped seven-segment velocity planning method of claim 3, wherein, the step of planning initial speed and initial acceleration of the system in the current cycle by dichotomy according to a speed planning formula, so that time and displacement of the system moving to the end point are equal to the time and displacement planned according to the displacement planning formula respectively comprises: Assume that the velocity planning formula plans the initial velocity of the current period motion as , the initial acceleration as , let be in the value interval and be in the value interval , and the values of , under the conditions of and are calculated by using the dichotomy method from the minimum value, wherein is the shortest time required for the system to move to the end point in the current period motion under the planning of the displacement planning formula, is the displacement of the system in the current period motion under the planning of the displacement planning formula.

5. The S-shaped seven-segment velocity planning method of claim 4, wherein, the step of planning initial speed and initial acceleration of the system in the current cycle by dichotomy according to a speed planning formula, so that time and displacement of the system moving to the end point are equal to the time and displacement planned according to the displacement planning formula respectively comprises: Assume The value selection has three values: The value selection has three values: First, let The time of the current period system motion to the end point is respectively At And , The execution judgment step is executed; Judging step: judging the size of , , and respectively If , , If then let If then , let , , , Recalculate , , Perform the decision step; If , , , let , , , recalculate , , , perform the judging step; If , , , let , , , recalculate , , , perform the judging step; if , , ,if but , , ,if but , , , ,make , respectively in , , Recalculate , , Perform the judgment step; If , , let , , , let , recalculate , , at , , , perform the judging step; If , , let , , , let , recalculate , , at , , , perform the judging step; The final value of and is calculated when the initial velocity is and the initial acceleration . .​ 6. A S-shaped seven-segment velocity planning device, characterized by, The device comprises a processor and a memory; the memory is used to store a computer program, the computer program comprises program instructions; and the processor is used to call the computer program to realize the S-shaped seven-segment speed planning method according to any one of claims 1 to 5.

7. A computer readable storage medium characterized in that, The storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the S-shaped seven-segment speed planning method according to any one of claims 1 to 5.

8. A computer program product, characterised in that, The computer program product stores computer instructions, and the computer instructions are executed by a processor to realize the steps of the S-shaped seven-segment speed planning method according to any one of claims 1 to 5.

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