Motion planning method and system capable of suppressing vibration

Abstract

The invention provides a motion planning method and system capable of suppressing vibration. A historical motion data set is decomposed into gradual change motion data and sudden change motion data; obtaining a plurality of tracking errors based on the gradual change motion data, determining a motion smoothing factor through all the tracking errors, and determining a gradual change motion control quantity of the target machine by combining the motion smoothing factor with the environmental parameters; according to the time response data, vibration interference characteristics during sudden change motion are extracted, a vibration interference factor is obtained, and a sudden change motion control quantity is determined according to the sudden change motion data and the vibration interference factor; determining vibration suppression coefficients of the target machine at different rotation angles in the motion through the gradual change motion control quantity and the sudden change motion control quantity; and when the target machine has a rotation angle during movement, vibration suppression is performed on the movement planning path of the target machine by the vibration suppression coefficient. By adopting the scheme of the invention, global vibration suppression can be realized in the motion planning process so as to reduce non-smooth motion planning paths.

Description

Technical Field

[0001] The present application relates to the technical field of motion planning, and more specifically, to a motion planning method and system capable of suppressing vibration. Background Art

[0002] Motion planning refers to an important task in the fields of robotics, automatic control, artificial intelligence and mechanical engineering. Its goal is to determine how a robot or system can generate a suitable trajectory or action sequence in a given environment to complete a specific task. Motion planning can involve path planning of mobile robots, motion control of industrial robots, trajectory planning of unmanned aerial vehicles, etc.; vibration-suppressible motion planning refers to designing control strategies in mechanical systems to reduce or suppress the vibration generated by the system when performing motion tasks.

[0003] In the process of motion planning, there is a problem of path smoothness. Path smoothness refers to the continuity and smoothness of the path generated by motion planning in space. It is usually hoped that the path generated by motion planning is continuous and smooth to ensure stability and comfort during motion. Sudden turns or sharp changes in the path will cause vibration or oscillation in the system, especially for high-speed motion or sensitive systems, which will affect the performance and stability of the system; however, in the prior art, some vibration suppression methods for motion planning are only effective in a local range, but cannot suppress vibration globally, resulting in vibration in some parts, especially in high-degree-of-freedom mechanical systems. The sudden turns or discontinuities caused by the non-smooth motion planning path lead to friction and impact between components, thereby causing wear and damage to mechanical components in the high-degree-of-freedom mechanical system. Therefore, how to achieve global vibration suppression in the process of motion planning to reduce non-smooth motion planning paths has become a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a motion planning method and system capable of suppressing vibration, which can achieve global vibration suppression during the motion planning process to reduce non-smooth motion planning paths.

[0005] In a first aspect, the present application provides a motion planning method capable of suppressing vibration, comprising the following steps: Obtain a historical motion dataset of the target machine; Decomposing the historical motion data set into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process; Tracking the trajectory of the target machine based on the gradual motion data, thereby obtaining a plurality of tracking errors, determining a motion smoothing factor of the target machine through all the tracking errors, and determining a gradual motion control amount of the target machine through the motion smoothing factor combined with environmental parameters in the current motion process; Acquire time response data of the target machine during sudden motion, extract vibration interference features during sudden motion according to the time response data, obtain vibration interference factors, and determine sudden motion control amounts of the target machine according to the sudden motion data and the vibration interference factors; Determining the vibration suppression coefficient of the target machine at different rotation angles during motion by using the gradual motion control amount and the sudden motion control amount; When the target machine turns a corner during motion, the vibration suppression coefficient is used to suppress vibration of the motion planning path of the target machine.

[0006] In some embodiments, decomposing the historical motion data set into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process specifically includes: The relative rotation angle of each movement of the target machine is screened out from the historical motion data set, and all the screened out relative rotation angles are motion features of the target machine during the motion process; Set the rotation amplitude threshold of the target machine according to all relative rotation angles; All relative rotation angles in the historical motion data set that are greater than or equal to the rotation amplitude threshold form mutation motion data; All relative rotation angles in the historical motion data set that are less than the rotation amplitude threshold are combined into gradual motion data.

[0007] In some embodiments, determining the motion smoothness factor of the target machine through all tracking errors specifically includes: Determine the angle tracking extreme error value of the target machine from all tracking errors; Determine the trajectory smoothness of the target machine during motion trajectory tracking; A motion smoothness factor of the target machine is determined according to the rotation angle tracking extreme difference value and the trajectory smoothness.

[0008] In some embodiments, determining the gradual motion control amount of the target machine by combining the motion smoothness factor with the environmental parameters in the current motion process specifically includes: Obtain the environmental parameters of the target machine during its current motion process; Determine the environmental impact coefficient of the target machine by using the environmental parameters; The gradual motion control amount of the target machine is determined according to the environmental impact coefficient and the motion smoothness factor.

[0009] In some embodiments, determining the sudden motion control amount of the target machine from the sudden motion data and the vibration interference factor specifically includes: Determine the interference suppression adjustment value of each relative rotation angle according to each relative rotation angle in the sudden motion data and the vibration interference factor; Then, the sudden motion control amount of the target machine is determined by all the disturbance suppression adjustment values.

[0010] In some embodiments, when the target machine turns a corner during motion, performing vibration suppression on the motion planning path of the target machine by using the vibration suppression coefficient specifically includes: Get the time point when the target machine turns a corner during movement; Determine the motion planning parameter sequence at the time point by using the vibration suppression coefficient; Generating motion control instructions for a target machine from the motion planning parameter sequence; The target machine executes motion according to the motion control instruction at the time point, thereby completing vibration suppression of the motion planning path of the target machine.

[0011] In some embodiments, the historical motion data set is a collection of all motion data of the target machine in the past month.

[0012] In a second aspect, the present application provides a motion planning system capable of suppressing vibration, comprising: An acquisition module, used to acquire a historical motion dataset of a target machine; A processing module, used for decomposing the historical motion data set into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process; The processing module is further used to track the trajectory of the target machine based on the gradual motion data, thereby obtaining a plurality of tracking errors, determining a motion smoothing factor of the target machine through all the tracking errors, and determining a gradual motion control amount of the target machine through the motion smoothing factor combined with environmental parameters in the current motion process; The processing module is further used to obtain time response data of the target machine during sudden motion, and then extract the vibration interference characteristics during sudden motion according to the time response data to obtain the vibration interference factor, and determine the sudden motion control amount of the target machine according to the sudden motion data and the vibration interference factor; The processing module is further used to determine the vibration suppression coefficient of the target machine at different rotation angles during movement through the gradual motion control amount and the sudden motion control amount; The execution module is used to suppress vibration of the motion planning path of the target machine by using the vibration suppression coefficient when the target machine turns during motion.

[0013] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the above-mentioned motion planning method that can suppress vibration.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions or codes, and when the instructions or codes are executed on a computer, the computer implements the above-mentioned motion planning method that can suppress vibration.

[0015] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects: In the present application, a historical motion data set of a target machine is obtained; based on the motion characteristics of the target machine during the motion process, the historical motion data set is decomposed into gradual motion data and sudden motion data; based on the gradual motion data, the trajectory of the target machine is tracked to obtain multiple tracking errors, and the motion smoothness factor of the target machine is determined by all the tracking errors, and the gradual motion control amount of the target machine is determined by the motion smoothness factor combined with the environmental parameters in the current motion process; the time response data of the target machine during sudden motion is obtained, and then the vibration interference characteristics during sudden motion are extracted according to the time response data to obtain the vibration interference factor, and the sudden motion control amount of the target machine is determined by the sudden motion data and the vibration interference factor; the vibration suppression coefficient of the target machine at different turning angles during motion is determined by the gradual motion control amount and the sudden motion control amount; when the target machine turns during motion, the vibration suppression coefficient is used to suppress the vibration of the motion planning path of the target machine.

[0016] It can be seen that in the present application, the vibration suppression coefficient of the target machine at different turning angles during movement is determined by the gradual motion control amount and the sudden motion control amount. When the target machine turns an angle during movement, the vibration suppression coefficient is used to suppress the vibration of the motion planning path of the target machine, thereby completing the vibration suppression of the motion planning path of the target machine. The gradual motion control amount is used to control the degree of change in the motion posture of the target machine when performing a small rotational movement. The gradual motion control amount is determined by controlling the smoothness of the motion trajectory of the target machine during movement (i.e., the motion smoothness factor) and the degree of influence of environmental parameters on the motion state of the target machine. This can provide a basis for suppressing vibration during small rotational movements of the target machine during movement, so as to subsequently formulate targeted vibration suppression strategies. Furthermore, the sudden motion control amount is used to control the degree of change in the motion posture of the target machine when performing a large rotational movement. The degree of interference caused by vibration to the motion of the target machine (i.e., the vibration interference factor) is used to determine the gradual motion control amount. The sudden motion control amount is determined by the gradual motion control amount and the sudden motion control amount for all large-amplitude rotation actions of the target machine, so that the target machine can more effectively suppress vibration when vibration interference occurs during the sudden motion process, thereby improving the stability and safety of the machine motion; finally, the coefficient used to suppress the vibration interference of the target machine when executing the motion (i.e., the vibration suppression coefficient) is determined by the gradual motion control amount and the sudden motion control amount, and the vibration suppression of both large-amplitude and small-amplitude rotation actions of the target machine is considered, which can provide a quantitative reference for the vibration suppression of the machine under different motion conditions, reduce the interference of vibration on the machine motion, and thus achieve global vibration suppression; when the target machine turns a corner during motion, the motion actuator of the target machine executes the corresponding motion action according to the motion control instruction generated by the vibration suppression coefficient, which can ensure that the target machine can remain stable throughout the entire motion process, thereby achieving smoother and more accurate trajectory tracking; in summary, the scheme realizes global vibration suppression in the motion planning process, thereby reducing non-smooth motion planning paths. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 is an exemplary flow chart of a motion planning method capable of suppressing vibration according to some embodiments of the present application; Figure 2 is an exemplary flow chart for determining a gradual motion control amount according to some embodiments of the present application; Figure 3 is an exemplary flow chart of determining a vibration interference factor according to some embodiments of the present application; Figure 4 is a schematic diagram of exemplary hardware and / or software of a motion planning system capable of suppressing vibration according to some embodiments of the present application; Figure 5 It is a structural schematic diagram of a computer device for implementing a motion planning method capable of suppressing vibration according to some embodiments of the present application. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] The embodiment of the present application provides a motion planning method and system capable of suppressing vibration, the core of which is to obtain a historical motion data set of a target machine; decompose the historical motion data set into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process; track the trajectory of the target machine based on the gradual motion data, and then obtain multiple tracking errors, determine the motion smoothness factor of the target machine through all tracking errors, and determine the gradual motion control amount of the target machine by combining the motion smoothness factor with the environmental parameters in the current motion process; obtain the time response data of the target machine during sudden motion, and then extract the vibration interference characteristics during sudden motion according to the time response data to obtain the vibration interference factor, and determine the sudden motion control amount of the target machine by the sudden motion data and the vibration interference factor; determine the vibration suppression coefficient of the target machine at different turning angles during motion by the gradual motion control amount and the sudden motion control amount; when the target machine turns during motion, the motion planning path of the target machine is subjected to vibration suppression by the vibration suppression coefficient; global vibration suppression can be achieved in the process of motion planning to reduce non-smooth motion planning paths.

[0021] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. Figure 1 , which is an exemplary flow chart of a motion planning method capable of suppressing vibration according to some embodiments of the present application. The motion planning method 100 capable of suppressing vibration mainly includes the following steps: In step 101, a historical motion dataset of a target machine is obtained.

[0022] In a specific implementation, a database management tool can be used to extract the motion data of the target machine when it performed motion in the past month from the operation record database, and all the extracted motion data are combined into a historical motion data set of the target machine, wherein the database management tool can be a structured query language (SQL), and in other embodiments, the method can also be used to obtain it, which is not specifically limited here.

[0023] It should be noted that the operation record database in the present application records various data generated when the target machine moves according to the motion planning path formulated in the past period of time, and all the generated data are used as motion data; in some embodiments, the motion data include: the time point of each movement, the relative angle of rotation of each movement, the time used for each angle, the energy consumed for each angle, the speed of each movement, the acceleration of each movement, the position point of each movement, the distance of each movement, the wind speed in the surrounding environment during each movement, the temperature in the surrounding environment during each movement, the humidity in the surrounding environment during each movement, etc., wherein each operation refers to each basic action unit of the target machine when performing the movement, and the action unit, for example: moving to a specific position, rotating a specific angle, grabbing an object, etc., will not be repeated here.

[0024] In addition, it should be noted that the historical motion data set in this application represents a collection of all motion data of the target machine in the past month.

[0025] In step 102, the historical motion data set is decomposed into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process.

[0026] In some embodiments, decomposing the historical motion data set into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process can be achieved by using the following steps: The relative rotation angle of each movement of the target machine is screened out from the historical motion data set, and all the screened out relative rotation angles are motion features of the target machine during the motion process; Set the rotation amplitude threshold of the target machine according to all relative rotation angles; All relative rotation angles in the historical motion data set that are greater than or equal to the rotation amplitude threshold form mutation motion data; All relative rotation angles in the historical motion data set that are less than the rotation amplitude threshold are combined into gradual motion data.

[0027] It should be noted that the relative rotation angle in the present application represents the angle at which the target machine rotates after the current movement is completed relative to the previous movement. As a preferred embodiment, filtering out the relative rotation angle of each movement of the target machine in the historical motion data set can be achieved in the following manner, namely: the relative rotation angle of each movement of the target machine can be filtered out from the historical motion data set through a structured query language. Other methods may also be used in other embodiments, which are not limited here.

[0028] In specific implementation, the rotation amplitude threshold in the present application is a boundary value used to distinguish between large-amplitude rotation movements and small-amplitude rotation movements of the target machine in the historical motion data set. Setting the rotation amplitude threshold of the target machine according to all relative rotation angles can be achieved in the following manner, namely: the average value of all relative rotation angles, and the average value plus the standard deviation of all relative rotation angles can be used as the rotation amplitude threshold of the target machine. In other embodiments, it can also be set in other ways, which are not limited here.

[0029] It should be noted that the gradual motion in the present application represents a small rotation movement of the target machine, and the gradual motion data represents the set of all small rotation movements of the target machine in the historical motion data set; in addition, the sudden motion represents a large rotation movement of the target machine, and the sudden motion data represents the set of all large rotation movements of the target machine in the historical motion data set, which will not be repeated here.

[0030] In step 103, the trajectory of the target machine is tracked based on the gradual motion data to obtain multiple tracking errors. The motion smoothness factor of the target machine is determined by all the tracking errors. The gradual motion control amount of the target machine is determined by the motion smoothness factor combined with the environmental parameters in the current motion process.

[0031] In some embodiments, tracking the trajectory of the target machine based on the gradual motion data to obtain multiple tracking errors can be achieved by using the following steps: Determine the expected rotation angle corresponding to each relative rotation angle in the gradual motion data in the motion planning path of the target machine; A plurality of tracking errors of the target machine in the process of motion trajectory tracking are determined according to all expected turning angles and the gradual motion data.

[0032] In specific implementation, before executing the movement, the target machine in the present application will formulate a corresponding motion planning path, and the motion planning path is composed of various expected turning angles and other motion postures. The expected turning angle in the motion planning path represents the preset rotation angle of the target machine in the process from the previous movement to the next movement in the formulated motion planning path. The following method can be used to determine the expected turning angle corresponding to each relative turning angle in the gradual motion data in the motion planning path of the target machine, namely: the preset rotation angle of each relative turning angle in the gradual motion data at the same time point in the motion planning path formulated by the target machine is used as the corresponding rotation angle of each relative turning angle in the motion planning path of the target machine The expected turning angle that is formulated can also be determined by other methods in other embodiments, which are not specifically limited here; determining multiple tracking errors of the target machine in the motion trajectory tracking process based on all the expected turning angles and the gradual motion data can be achieved in the following manner, namely: selecting a relative turning angle in the gradual motion data, obtaining the expected turning angle formulated corresponding to the relative turning angle in the motion planning path of the target machine, and then taking the difference between the relative turning angle and the expected turning angle as the tracking error of the target machine corresponding to the relative turning angle, repeating the above steps, and obtaining the tracking error of the target machine corresponding to the remaining relative turning angle in the gradual motion data. In other embodiments, it can also be determined by other methods, which are not limited here.

[0033] It should be noted that the tracking error in the present application reflects the degree of deviation between the actual turning angle of the target machine when the motion is executed and the expected turning angle. The larger the tracking error, the greater the degree of deviation between the actual turning angle of the target machine when the motion is executed and the expected turning angle. Conversely, the smaller the tracking error, the smaller the degree of deviation between the actual turning angle of the target machine when the motion is executed and the expected turning angle.

[0034] In some embodiments, determining the motion smoothness factor of the target machine through all tracking errors can be implemented by the following steps: Determine the angle tracking extreme error value of the target machine from all tracking errors; Determine the trajectory smoothness of the target machine during motion trajectory tracking; A motion smoothness factor of the target machine is determined according to the rotation angle tracking extreme difference value and the trajectory smoothness.

[0035] In specific implementation, the angle tracking extreme value in the present application reflects the degree of deviation between the maximum tracking error and the minimum tracking error of the target machine. The angle tracking extreme value of the target machine determined by all tracking errors can be implemented in the following manner, namely: the absolute value of the difference between the maximum tracking error and the minimum tracking error among all tracking errors is taken as the angle tracking extreme value. In other embodiments, other methods can also be used to determine it, which is not limited here; the trajectory smoothness reflects the degree of change of the trajectory curve of the target machine during the motion trajectory tracking process. The higher the trajectory smoothness, the more moderate the change of the trajectory curve of the target machine during the motion trajectory tracking process. On the contrary, the lower the trajectory smoothness, the more rapid the change of the trajectory curve of the target machine during the motion trajectory tracking process. Determine the trajectory of the target machine in the motion trajectory tracking process. Smoothness can be achieved in the following manner, namely: first, the curvature of each point on the trajectory curve of the target machine in the process of motion trajectory tracking is calculated by numerical method or differential geometry method, and then all the obtained curvatures are comprehensively evaluated, and then the result of the comprehensive evaluation is used as the trajectory smoothness of the target machine in the process of motion trajectory tracking, wherein the comprehensive evaluation may include: integrating or averaging all curvatures, and in other embodiments, it can also be determined by other methods, which are not limited here; determining the motion smoothness factor of the target machine according to the angle tracking extreme value and the trajectory smoothness can be achieved in the following manner, namely: the ratio of the angle tracking extreme value to the trajectory smoothness can be used as the motion smoothness factor of the target machine, and in other embodiments, it can also be determined by other methods, which are not limited here.

[0036] It should be noted that the motion smoothness factor in the present application is used to control the smoothness of the motion trajectory of the target machine during the motion process. The greater the smoothness of the motion trajectory, the smaller the motion error of the target machine during the motion process. Conversely, the larger the motion error of the target machine during the motion process. It will not be repeated here.

[0037] In some embodiments, reference Figure 2 As shown in FIG. 1 , this figure is an exemplary flow chart for determining the gradual motion control amount in some embodiments of the present application. In this embodiment, the gradual motion control amount of the target machine is determined by combining the motion smoothness factor with the environmental parameters in the current motion process, which can be implemented by the following steps: First, in step 1031, the environmental parameters of the target machine during the current motion process are obtained; Secondly, in step 1032, the environmental impact coefficient of the target machine is determined by the environmental parameters; Finally, in step 1033, the gradual motion control amount of the target machine is determined according to the environmental impact coefficient and the motion smoothness factor.

[0038] It should be noted that the environmental parameters in the present application include but are not limited to: the distance and position of surrounding obstacles, the slope and curvature of the terrain, wind speed and wind direction, etc. In some embodiments, the environmental data of the target machine during the current movement can be obtained through various sensors and environmental perception devices, and all the environmental data obtained are composed of the environmental parameters of the target machine during the current movement. Among them, the various sensors and environmental perception devices are, for example, distance sensors, lidars, tilt sensors, wind speed sensors, anemometers and wind vanes, etc. In other embodiments, environmental parameters can also be obtained by other methods, which are not specifically limited here.

[0039] In specific implementation, the environmental impact coefficient in the present application reflects the degree of influence of environmental parameters on the motion state of the target machine. The larger the environmental impact coefficient, the greater the degree of influence of environmental parameters on the motion state of the target machine. Conversely, the smaller the environmental impact coefficient, the smaller the degree of influence of environmental parameters on the motion state of the target machine. The environmental impact coefficient of the target machine determined by the environmental parameters can be implemented in the following manner, namely: first, the degree of influence of each environmental data in the environmental parameters on the motion state of the target machine can be evaluated by machine learning or evaluation algorithm, and then the obtained evaluation values ​​are averaged and weighted summed, and then the obtained result is used as the environmental impact coefficient of the target machine. In other embodiments, it can also be implemented by other methods, which will not be repeated here; determining the gradual motion control amount of the target machine according to the environmental impact coefficient and the motion smoothing factor can be implemented in the following manner, namely: the product value of the environmental impact coefficient and the motion smoothing factor can be used as the gradual motion control amount of the target machine. In other embodiments, it can also be determined by other methods, which will not be limited here.

[0040] It should be noted that the gradual motion control amount in the present application is used to control the degree of change in the motion posture of the target machine when performing a small rotation movement, wherein the motion posture, for example, the rotation angle, angular velocity, angular acceleration, force and torque of the target machine, etc., will not be repeated here.

[0041] In step 104, the time response data of the target machine during the sudden motion is obtained, and then the vibration interference characteristics during the sudden motion are extracted according to the time response data to obtain the vibration interference factor, and the sudden motion control amount of the target machine is determined by the sudden motion data and the vibration interference factor.

[0042] In specific implementation, the time response data of the target machine during sudden motion can be obtained in the following manner, namely: the time used for each relative turning angle in the sudden motion data can be extracted from the historical motion data set of the target machine through a structured query language, and the time used for each relative turning angle is used as the response time corresponding to each relative turning angle, and then all the extracted response times are combined to form the time response data of the target machine during sudden motion. In other embodiments, it can also be obtained through other methods, which are not limited here.

[0043] It should be noted that the time response data in the present application represents the set of response times corresponding to all sudden movements of the target machine during the movement, wherein one sudden movement corresponds to one response time, which will not be repeated here.

[0044] In some embodiments, reference Figure 3 As shown in FIG. 1 , this figure is an exemplary flow chart for determining the vibration interference factor in some embodiments of the present application. In this embodiment, the vibration interference feature during the sudden motion is extracted according to the time response data, and the vibration interference factor can be obtained by the following steps: First, in step 1041, a response time in the time response data is selected; Secondly, in step 1042, the vibration disturbance amount in the sudden motion corresponding to the response time is determined based on the response time and the relative rotation angle corresponding to the response time; Then, in step 1043, the angular stability corresponding to the response time is determined according to the vibration disturbance amount; Again, in step 1044, the above steps are repeated to obtain the angular stability corresponding to the remaining response time in the time response data; Finally, in step 1045, the vibration disturbance factor of the target machine during the sudden motion is determined through all the angular stability.

[0045] It should be noted that vibration will cause additional fluctuations or jitters in the target machine during rotation, and the fluctuations or jitters caused by vibration will make the changes in acceleration and angular velocity during rotation more complicated, thereby prolonging the time required for the rotation angle to reach the target value, that is, increasing the response time of the relative angle. Therefore, the longer the response time of the relative angle, the greater the vibration interference during the corresponding response time, and the lower the stability of the relative angle corresponding to the response time. It will not be elaborated here.

[0046] In specific implementation, the vibration interference amount in the present application represents the degree of vibration interference in the corresponding response time in the sudden motion. The vibration interference amount in the sudden motion corresponding to the response time can be determined by the response time and the relative angle corresponding to the response time. It can be implemented in the following way, that is: the ratio of the relative angle corresponding to the response time to the response time can be used as the vibration interference amount in the sudden motion corresponding to the response time. In other embodiments, it can also be determined by other methods, which are not limited here; the angle stability reflects the resistance of the corresponding relative angle to external interference (i.e., vibration interference). The higher the angle stability, the stronger the resistance of the corresponding relative angle to external interference (i.e., vibration interference). Conversely, the lower the angle stability, the lower the resistance of the corresponding relative angle to external interference (i.e., vibration interference). ), the weaker the resistance of the response time, the angular stability corresponding to the response time can be determined according to the vibration interference amount, which can be achieved in the following manner, namely: first, the energy consumed by the relative angle corresponding to the response time can be obtained from the historical motion data set of the target machine through a structured query language, and then the energy consumed by the relative angle is multiplied by the vibration interference amount, and then the inverse of the product value is used as the angular stability corresponding to the response time. In other embodiments, it can also be determined by other methods, which are not limited here; determining the vibration interference factor of the target machine in the process of sudden motion through all angular stabilities can be achieved in the following manner, namely: taking the inverse of the average value of all angular stabilities as the vibration interference factor of the target machine in the process of sudden motion. In other embodiments, it can also be determined by other methods, which are not limited here.

[0047] It should be noted that the vibration interference factor in the present application reflects the degree of interference caused by the vibration to the movement of the target machine. The larger the vibration interference factor, the greater the degree of interference caused by the vibration to the movement of the target machine. Conversely, the smaller the vibration interference factor, the smaller the degree of interference caused by the vibration to the movement of the target machine.

[0048] In some embodiments, determining the sudden motion control amount of the target machine from the sudden motion data and the vibration interference factor can be implemented by the following steps: Determine the interference suppression adjustment value of each relative rotation angle according to each relative rotation angle in the sudden motion data and the vibration interference factor; Then, the sudden motion control amount of the target machine is determined by all the disturbance suppression adjustment values.

[0049] In specific implementation, the interference suppression adjustment value in the present application indicates the degree of adjustment required for the corresponding relative rotation angle to resist vibration interference. The larger the interference suppression adjustment value, the greater the adjustment required for the target machine at the corresponding relative rotation angle to suppress vibration interference, and vice versa. The interference suppression adjustment value of each relative rotation angle determined according to each relative rotation angle in the sudden motion data and the vibration interference factor can be implemented in the following manner, namely: select a relative rotation angle in the sudden motion data, and use the product value of the relative rotation angle and the vibration interference factor as the interference suppression adjustment value of the relative rotation angle, repeat the above steps to obtain the interference suppression adjustment value of the remaining relative rotation angles in the sudden motion data. In other embodiments, it can also be determined in other ways, which are not limited here. The sudden motion control amount of the target machine determined by all the interference suppression adjustment values ​​can be implemented in the following manner, namely: first, calculate the difference between all the interference suppression adjustment values ​​and each relative rotation angle in the sudden motion data, and then use the average value of all the differences obtained as the sudden motion control amount of the target machine. In other embodiments, it can also be determined by other methods, which are not limited here.

[0050] It should be noted that the mutation motion control quantity in the present application is used to control the degree of change in the motion posture of the target machine when performing a large-scale rotation movement, wherein the motion posture, for example, the rotation angle, angular velocity, angular acceleration, force and torque of the target machine, etc., will not be repeated here.

[0051] In step 105, the vibration suppression coefficient of the target machine at different rotation angles during motion is determined by using the gradual motion control amount and the sudden motion control amount.

[0052] In some embodiments, determining the vibration suppression coefficient of the target machine at different rotation angles during motion by using the gradual motion control amount and the sudden motion control amount can be achieved by using the following steps: Determine a motion posture control sequence of a target machine according to the gradual motion control amount and the sudden motion control amount; The vibration suppression coefficient of the target machine at different rotation angles during movement is determined by the motion posture control sequence.

[0053] It should be noted that the motion posture control sequence in the present application is composed of multiple motion posture control parameters of the target machine, wherein the motion posture control parameters may include: rotation angle control coefficient, angular velocity control coefficient, angular acceleration control coefficient, force control coefficient and torque control coefficient, etc. As a preferred embodiment, the motion posture control sequence of the target machine determined according to the gradual motion control amount and the sudden motion control amount can be implemented in the following manner, namely: the relationship between the actual motion posture of the target machine and the expected motion posture in terms of rotation angle, angular velocity, angular acceleration, force and torque can be fitted by a fitting model according to the gradual motion control amount and the sudden motion control amount, and then the optimization algorithm is used to find the best rotation angle control coefficient, angular velocity control coefficient, angular acceleration control coefficient, force control coefficient and torque control coefficient and other motion posture control parameters, and then all the motion posture control parameters are combined into the motion posture control sequence of the target machine, wherein the fitting model is, for example, a logistic regression model, a decision tree, an artificial neural network, a deep learning model, etc., and the optimization algorithm is, for example, a particle swarm optimization algorithm, a stochastic gradient descent method, an ant colony algorithm, etc. In other embodiments, other methods may also be used for determination, which is not limited here.

[0054] In specific implementation, determining the vibration suppression coefficient of the target machine at different rotation angles during motion by the motion posture control sequence can be achieved in the following manner, namely: the motion control parameters of the target machine at different rotation angles during motion can be automatically adjusted based on the motion posture control sequence using expert knowledge and empirical rules through machine learning methods, and the adjusted results are used as the vibration suppression coefficients of the target machine at different rotation angles during motion. Other methods can also be used in other embodiments, which are not limited here.

[0055] It should be noted that the vibration suppression coefficient in the present application is a coefficient used to suppress vibration interference of the target machine when performing motion.

[0056] In step 106, when the target machine turns a corner during motion, the vibration suppression coefficient is used to suppress vibration of the motion planning path of the target machine.

[0057] In some embodiments, when the target machine turns a corner during motion, the vibration suppression coefficient may be used to suppress vibration of the motion planning path of the target machine by the following steps: Get the time point when the target machine turns a corner during movement; Determine the motion planning parameter sequence at the time point by using the vibration suppression coefficient; Generating motion control instructions for a target machine from the motion planning parameter sequence; The target machine executes motion according to the motion control instruction at the time point, thereby completing vibration suppression of the motion planning path of the target machine.

[0058] It should be noted that the motion planning parameter sequence in the present application represents a sequence composed of motion posture parameters such as rotation angle, angular velocity, angular acceleration, force and torque of the target machine after vibration suppression. As a preferred embodiment, the motion planning parameter sequence at the time point can be determined by the vibration suppression coefficient in the following manner, namely: first, the rotation angle, angular velocity, angular acceleration, force and torque of the target machine at the time point can be matched from the motion planning path of the target machine through a matching algorithm, and then all the matched motion postures are arranged to form a motion posture sequence at the time point, and then each motion posture in the motion posture sequence is multiplied by the vibration suppression coefficient, and then the obtained new sequence is used as the motion planning parameter sequence at the time point, wherein the matching algorithm is, for example, a nearest neighbor matching algorithm, a least squares matching algorithm, a neural network matching algorithm, etc. In other embodiments, other methods can also be used for determination, which is not limited here.

[0059] In specific implementation, the motion control instructions for the target machine generated by the motion planning parameter sequence can be achieved in the following manner, namely: the motion planning parameters can be converted into motion control instructions for each joint of the target machine through the inverse kinematics method. In other embodiments, it can also be determined by other methods, which are not specifically limited here.

[0060] In specific implementation, the target machine executes the motion according to the motion control instruction at the time point, so as to complete the vibration suppression of the motion planning path of the target machine. It can be achieved in the following way, namely: when the target machine turns a corner during the motion, the motion actuator of the target machine executes the corresponding motion action according to the motion control instruction to complete the vibration suppression of the motion planning path of the target machine. It will not be repeated here.

[0061] In addition, in another aspect of the present application, in some embodiments, the present application provides a motion planning system capable of suppressing vibration, referring to Figure 4 , which is a schematic diagram of exemplary hardware and / or software of a motion planning system capable of suppressing vibration according to some embodiments of the present application, the motion planning system capable of suppressing vibration 400 includes: an acquisition module 401, a processing module 402 and an execution module 403, which are described as follows: Acquisition module 401, in this application, acquisition module 401 is mainly used to acquire the historical motion data set of the target machine; Processing module 402, in the present application, the processing module 402 is mainly used to decompose the historical motion data set into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process; The processing module 402 in the present application is also used to track the trajectory of the target machine based on the gradual motion data, thereby obtaining multiple tracking errors, determining the motion smoothing factor of the target machine through all the tracking errors, and determining the gradual motion control amount of the target machine through the motion smoothing factor combined with the environmental parameters in the current motion process; The processing module 402 in the present application is also used to obtain the time response data of the target machine during the sudden motion, and then extract the vibration interference characteristics during the sudden motion according to the time response data to obtain the vibration interference factor, and determine the sudden motion control amount of the target machine according to the sudden motion data and the vibration interference factor; The processing module 402 in the present application is also used to determine the vibration suppression coefficient of the target machine at different rotation angles during movement through the gradual motion control amount and the sudden motion control amount; The execution module 403 in the present application is mainly used to suppress vibration of the motion planning path of the target machine by using the vibration suppression coefficient when the target machine turns a corner during motion.

[0062] The above describes in detail the examples of the motion planning method and system that can suppress vibration provided by the embodiments of the present application. It can be understood that in order to realize the above functions, the corresponding device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0063] In some embodiments, the present application also provides a computer device, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the above-mentioned motion planning method that can suppress vibration.

[0064] In some embodiments, reference Figure 5 , the dotted line in the figure indicates that the unit or the module is optional, and the figure is a schematic diagram of the structure of a computer device for implementing the motion planning method for suppressing vibration of the present application. The motion planning method for suppressing vibration in the above embodiment can be Figure 5 The computer device 500 shown in the figure is implemented, and the computer device 500 includes at least one processor 501, a memory 502 and at least one communication unit 505. The computer device 500 can be a terminal device, a server or a chip.

[0065] The processor 501 may be a general-purpose processor or a special-purpose processor. For example, the processor 501 may be a central processing unit (CPU), which may be used to control the computer device 500, execute software programs, and process data of the software programs. The computer device 500 may also include a communication unit 505 to implement signal input (reception) and output (transmission).

[0066] For example, the computer device 500 may be a chip, the communication unit 505 may be an input and / or output circuit of the chip, or the communication unit 505 may be a communication interface of the chip, and the chip may be a component of a terminal device, a network device, or other devices.

[0067] For another example, the computer device 500 may be a terminal device or a server, and the communication unit 505 may be a transceiver of the terminal device or the server, or the communication unit 505 may be a transceiver circuit of the terminal device or the server.

[0068] The computer device 500 may include one or more memories 502, on which a program 504 is stored. The program 504 can be executed by the processor 501 to generate instructions 503, so that the processor 501 performs the method described in the above method embodiment according to the instructions 503. Optionally, data (such as a target audit model) can also be stored in the memory 502. Optionally, the processor 501 can also read the data stored in the memory 502, and the data can be stored at the same storage address as the program 504, or the data can be stored at a different storage address from the program 504.

[0069] The processor 501 and the memory 502 may be provided separately or integrated together, for example, integrated on a system on chip (SOC) of the terminal device.

[0070] It should be understood that each step of the above method embodiment can be completed by a hardware-based logic circuit or software-based instructions in the processor 501. The processor 501 can be a CPU, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0071] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0072] For example, in some embodiments, the present application also provides a computer-readable storage medium, in which instructions or codes are stored. When the instructions or codes are executed on a computer, the computer implements the above-mentioned motion planning method that can suppress vibration.

[0073] In summary, in the motion planning method and system capable of suppressing vibration disclosed in the embodiments of the present application, a historical motion data set of a target machine is obtained; the historical motion data set is decomposed into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process; the trajectory of the target machine is tracked based on the gradual motion data, and then a plurality of tracking errors are obtained, and the motion smoothness factor of the target machine is determined by all the tracking errors, and the gradual motion control amount of the target machine is determined by the motion smoothness factor combined with the environmental parameters in the current motion process; the time response data of the target machine during sudden motion is obtained, and then the vibration interference characteristics during sudden motion are extracted according to the time response data to obtain the vibration interference factor, and the sudden motion control amount of the target machine is determined by the sudden motion data and the vibration interference factor; the vibration suppression coefficient of the target machine at different turning angles during motion is determined by the gradual motion control amount and the sudden motion control amount; when the target machine has a turning angle during motion, the motion planning path of the target machine is subjected to vibration suppression by the vibration suppression coefficient; global vibration suppression can be achieved in the process of motion planning to reduce non-smooth motion planning paths.

[0074] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0075] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the present invention. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A motion planning method capable of suppressing vibration, characterized in that: The steps include: Obtain a historical motion dataset of the target machine; Decomposing the historical motion data set into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process; Tracking the trajectory of the target machine based on the gradual motion data, thereby obtaining a plurality of tracking errors, determining a motion smoothing factor of the target machine through all the tracking errors, and determining a gradual motion control amount of the target machine through the motion smoothing factor combined with environmental parameters in the current motion process; Acquire time response data of the target machine during sudden motion, extract vibration interference features during sudden motion according to the time response data, obtain vibration interference factors, and determine sudden motion control amounts of the target machine according to the sudden motion data and the vibration interference factors; Determining the vibration suppression coefficient of the target machine at different rotation angles during motion by using the gradual motion control amount and the sudden motion control amount; When the target machine turns a corner during motion, the vibration suppression coefficient is used to suppress vibration of the motion planning path of the target machine.

2. The method according to claim 1, characterized in that Decomposing the historical motion data set into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process specifically includes: The relative rotation angle of each movement of the target machine is screened out from the historical motion data set, and all the screened out relative rotation angles are motion features of the target machine during the motion process; Set the rotation amplitude threshold of the target machine according to all relative rotation angles; All relative rotation angles in the historical motion data set that are greater than or equal to the rotation amplitude threshold form mutation motion data; All relative rotation angles in the historical motion data set that are less than the rotation amplitude threshold are combined into gradual motion data.

3. The method according to claim 1, characterized in that The motion smoothing factor of the target machine is determined by all tracking errors, including: Determine the angle tracking extreme error value of the target machine from all tracking errors; Determine the trajectory smoothness of the target machine during motion trajectory tracking; A motion smoothness factor of the target machine is determined according to the rotation angle tracking extreme difference value and the trajectory smoothness.

4. The method according to claim 1, characterized in that Determining the gradual motion control amount of the target machine by combining the motion smoothness factor with the environmental parameters in the current motion process specifically includes: Obtain the environmental parameters of the target machine during its current motion process; Determine the environmental impact coefficient of the target machine by using the environmental parameters; The gradual motion control amount of the target machine is determined according to the environmental impact coefficient and the motion smoothness factor.

5. The method according to claim 1, characterized in that Determining the sudden motion control amount of the target machine based on the sudden motion data and the vibration interference factor specifically includes: Determine the interference suppression adjustment value of each relative rotation angle according to each relative rotation angle in the sudden motion data and the vibration interference factor; Then, the sudden motion control amount of the target machine is determined by all the disturbance suppression adjustment values.

6. The method according to claim 1, characterized in that When the target machine turns a corner during motion, the vibration suppression coefficient is used to suppress vibration of the motion planning path of the target machine, specifically including: Get the time point when the target machine turns a corner during movement; Determine the motion planning parameter sequence at the time point by using the vibration suppression coefficient; Generating motion control instructions for a target machine from the motion planning parameter sequence; The target machine executes motion according to the motion control instruction at the time point, thereby completing vibration suppression of the motion planning path of the target machine.

7. The method according to claim 1, characterized in that The historical motion data set is a collection of all motion data of the target machine in the past month.

8. A motion planning system capable of suppressing vibration, characterized in that: include: An acquisition module, used to acquire a historical motion dataset of a target machine; A processing module, used for decomposing the historical motion data set into gradual motion data and sudden motion data based on the motion characteristics of the target machine during the motion process; The processing module is further used to track the trajectory of the target machine based on the gradual motion data, thereby obtaining a plurality of tracking errors, determining a motion smoothing factor of the target machine through all the tracking errors, and determining a gradual motion control amount of the target machine through the motion smoothing factor combined with environmental parameters in the current motion process; The processing module is further used to obtain time response data of the target machine during sudden motion, and then extract the vibration interference characteristics during sudden motion according to the time response data to obtain the vibration interference factor, and determine the sudden motion control amount of the target machine according to the sudden motion data and the vibration interference factor; The processing module is further used to determine the vibration suppression coefficient of the target machine at different rotation angles during movement through the gradual motion control amount and the sudden motion control amount; The execution module is used to suppress vibration of the motion planning path of the target machine by using the vibration suppression coefficient when the target machine turns during motion.

9. A computer device, characterized in that: The computer device comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the motion planning method capable of suppressing vibration according to any one of claims 1 to 7.

10. A computer-readable storage medium storing instructions or codes, which, when executed on a computer, enable the computer to implement the motion planning method capable of suppressing vibration according to any one of claims 1 to 7.

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