Continuous trajectory integrated velocity planning method and device, electronic equipment and medium

Abstract

The present application relates to the technical field of motion control, and particularly relates to a continuous trajectory integrated speed planning method and device, electronic equipment and medium, wherein the method comprises the following steps: obtaining a continuous trajectory to be planned, and converting the continuous trajectory to be planned into a standard form continuous trajectory; based on the standard form continuous trajectory, constructing an overall speed limit list, and scanning the overall speed limit list through a preset forward and backward bidirectional scanning method to obtain a scanned overall speed limit list; based on the scanned overall speed limit list, generating an integrated speed planning curve, and interpolating the standard form continuous trajectory based on the integrated speed planning curve to obtain an overall interpolation point column, and obtaining an integrated speed planning result according to the overall interpolation point column, thereby solving the problem of limited application range and poor universality of the speed planning method in the related art, and improving the universality of the continuous trajectory integrated speed planning.

Description

Technical Field

[0001] This invention relates to the field of motion control technology, and in particular to a continuous trajectory integrated speed planning method, device, electronic device and medium. Background Technology

[0002] Computer Numerical Control (CNC) systems, as a crucial supporting platform for modern manufacturing technology, rely heavily on motion control technology. Among these technologies, speed planning directly impacts machine tool operating efficiency, machining accuracy, and surface quality. The task of speed planning is to generate a continuous, smooth, and efficient feed rate curve for a given trajectory, while satisfying the geometric constraints of the machining path, the physical limitations of the machine tool, and the process requirements. In actual CNC machining, the trajectory forms are diverse, placing higher demands on speed planning methods.

[0003] In related technologies, method (1) realizes multi-type mixed trajectory through multi-type curve segment mixed interpolation method, and method (2) realizes unified velocity planning for multiple continuous curve segments by uniformly parameterizing the velocity planning of each constructed continuous curve segment.

[0004] However, method (1) can only process G01 straight line code, G02 / 03 arc code, and G07 NURBS curve description, without providing a standard form that is universal for any trajectory, and cannot meet the requirements of integrated speed planning. Although method (2) realizes unified speed planning for multiple continuous curves, the continuous mixed curves for speed planning only include the single form of straight line, curve, and straight line, which cannot meet the needs of complex and varied trajectories in modern CNC machining. Summary of the Invention

[0005] This invention provides a continuous trajectory integrated speed planning method, device, electronic device and medium to solve the problems of limited applicability and poor versatility of speed planning methods in related technologies, and improve the versatility of continuous trajectory integrated speed planning.

[0006] A first aspect of the present invention provides a continuous trajectory integrated speed planning method, comprising the following steps: obtaining a continuous trajectory to be planned and converting the continuous trajectory to be planned into a standard form continuous trajectory; constructing an overall speed limit list based on the standard form continuous trajectory, and scanning the overall speed limit list using a preset forward and reverse bidirectional scanning method to obtain a scanned overall speed limit list; generating an integrated speed planning curve based on the scanned overall speed limit list, and interpolating the standard form continuous trajectory based on the integrated speed planning curve to obtain an overall interpolation point list, and obtaining an integrated speed planning result based on the overall interpolation point list.

[0007] Furthermore, in some embodiments, the process of converting the continuous trajectory to be planned into a standard form of continuous trajectory includes: determining whether the continuous trajectory to be planned is a single type of continuous trajectory; if the continuous trajectory to be planned is the single type of continuous trajectory, then converting the continuous trajectory to be planned into a single-parameter continuous trajectory or an arc length parameter continuous trajectory; otherwise, dividing the continuous trajectory to be planned into multiple segments of a single type of continuous trajectory, and converting the continuous trajectories of the multiple types of continuous trajectories into single-parameter continuous trajectories or arc length parameter continuous trajectories respectively.

[0008] Further, in some embodiments, constructing an overall speed limit list based on the standard form of continuous trajectory includes: if the standard form of continuous trajectory is the single-parameter continuous trajectory, then the maximum point sequence of the curvature function is used as the feed speed limit point sequence, the arc length value corresponding to the maximum point sequence is calculated according to the arc length function, and the feed speed limit value is calculated according to the curvature value corresponding to the maximum point sequence, and an overall speed limit list is constructed based on the arc length value and the feed speed limit value; if the standard form of continuous trajectory is the arc length parameter continuous trajectory, then the maximum point sequence of the curvature function is used as the feed speed limit point sequence, the feed speed limit value is calculated according to the curvature value corresponding to the maximum point sequence, and an overall speed limit list is constructed based on the arc length value and the feed speed limit value; if the standard form of continuous trajectory is a hybrid continuous trajectory consisting of the single-parameter continuous trajectory and the arc length parameter continuous trajectory, then a speed limit list for each segment of the trajectory is calculated separately, and the speed limit lists for each segment of the trajectory are concatenated to obtain an overall speed limit list.

[0009] Further, in some embodiments, the step of scanning the overall speed limit list using a preset forward and reverse bidirectional scanning method to obtain the scanned overall speed limit list includes: acquiring CNC machining speed planning parameter values, the CNC machining speed planning parameter values ​​including programmed feed rate, maximum acceleration along the trajectory, and maximum jerk along the trajectory; calculating the arc length difference between the current point and the next point, and updating the overall speed limit list in the forward direction based on the speed, limit acceleration, and jerk of the current point to obtain the overall speed limit list after forward scanning; calculating the arc length difference between the current point and the previous point, and updating the overall speed limit list in the reverse direction based on the speed, limit acceleration, and jerk of the current point to obtain the overall speed limit list after reverse scanning; and obtaining the scanned overall speed limit list based on the overall speed limit list after forward scanning and the overall speed limit list after reverse scanning.

[0010] Furthermore, in some embodiments, generating an integrated speed planning curve based on the scanned overall speed limit list includes: calculating the arc length difference between the current point and the next point; calculating, based on S-curve acceleration and deceleration, the first arc length required to increase the speed from the current point to the next point, the second arc length required to increase the speed from the current point to the programmed feed speed, and the third arc length required to increase the speed from the programmed feed speed to the next point; calculating the sum of the second arc length and the third arc length; and generating the integrated speed planning curve based on the arc length difference, the first arc length, and the sum.

[0011] Further, in some embodiments, generating the integrated speed planning curve based on the arc length difference, the first arc length, and the sum includes: if the arc length difference is greater than the sum, then within the second arc length, accelerating from the current point's speed to the programmed feed speed based on a preset acceleration strategy, and moving at a constant speed to the starting position of the third arc length based on the programmed feed speed, and then decelerating from the programmed feed speed to the speed of the next point within the third arc length based on a preset deceleration strategy; if the arc length difference is equal to the sum, then based on the preset acceleration strategy, within the second arc length, The speed is accelerated from the current point to the programmed feed speed, and then decelerated from the programmed feed speed to the speed of the next point within the third arc length based on a preset deceleration strategy. If the arc length difference is greater than the first arc length and less than the sum, the speed is accelerated from the current point to a preset intermediate speed based on the preset acceleration strategy, and then decelerated from the preset intermediate speed to the speed of the next point based on the preset deceleration strategy. If the arc length difference is equal to the first arc length, the speed is accelerated or decelerated from the current point to the speed of the next point within the first arc length based on a preset speed adjustment strategy.

[0012] Further, in some embodiments, the step of interpolating the standard-form continuous trajectory based on the integrated velocity planning curve to obtain an overall interpolation point sequence, and then obtaining the integrated velocity planning result, includes: obtaining the interpolation period of the interpolation point, the initial arc length of the input parameter of the interpolation process, and the residual arc length of the output parameter of the interpolation process; when the standard-form continuous trajectory is the single-parameter continuous trajectory, calculating the parameter of the initial interpolation point based on the initial arc length of the input parameter of the interpolation process, and updating the interpolation point based on the parameter of the initial interpolation point to obtain an interpolation point sequence based on the single-parameter continuous trajectory; and when the standard-form continuous trajectory is the arc length parameter continuous trajectory, using the initial arc length of the input parameter of the interpolation process as the starting arc length parameter point, and updating the interpolation point based on the starting arc length parameter point to obtain an interpolation point sequence based on the arc length parameter continuous trajectory; obtaining the overall interpolation point sequence based on the interpolation point sequence of the single-parameter continuous trajectory and / or the interpolation point sequence of the arc length parameter continuous trajectory to obtain the integrated velocity planning result.

[0013] The continuous trajectory integrated speed planning method provided by the present invention obtains the continuous trajectory to be planned and converts it into a standard form, constructs an overall speed limit list and processes it using a forward and reverse bidirectional scanning method, then generates an integrated speed planning curve based on the processed list, interpolates the standard trajectory to obtain an overall interpolation point list, and then obtains the integrated speed planning result. This solves the problem that the speed planning method in related technologies has a limited scope of application and poor versatility, and improves the versatility of continuous trajectory integrated speed planning.

[0014] A second aspect of the present invention provides an integrated speed planning device for continuous trajectories. The device includes: an acquisition module for acquiring a continuous trajectory to be planned and converting the continuous trajectory to be planned into a standard form of continuous trajectory; a construction module for constructing an overall speed limit list based on the standard form of continuous trajectory and scanning the overall speed limit list using a preset forward and reverse bidirectional scanning method to obtain a scanned overall speed limit list; and a generation module for generating an integrated speed planning curve based on the scanned overall speed limit list, interpolating the standard form of continuous trajectory based on the integrated speed planning curve to obtain an overall interpolation point sequence, and obtaining an integrated speed planning result based on the overall interpolation point sequence.

[0015] Furthermore, in some embodiments, the acquisition module is specifically used to: determine whether the continuous trajectory to be planned is a single type of continuous trajectory; if the continuous trajectory to be planned is the single type of continuous trajectory, then convert the continuous trajectory to be planned into a single-parameter continuous trajectory or an arc length parameter continuous trajectory; otherwise, divide the continuous trajectory to be planned into multiple segments of single-type continuous trajectories, and convert the continuous trajectories of the multiple segments of continuous trajectory type into single-parameter continuous trajectories or arc length parameter continuous trajectories respectively.

[0016] Further, in some embodiments, the construction module is specifically used for: if the standard form of continuous trajectory is the single-parameter continuous trajectory, then using the maximum point sequence of the curvature function as the feed rate limit point sequence, calculating the arc length value corresponding to the maximum point sequence according to the arc length function, and calculating the feed rate limit value according to the curvature value corresponding to the maximum point sequence, and constructing an overall speed limit list based on the arc length value and the feed rate limit value; if the standard form of continuous trajectory is the arc length parameter continuous trajectory, then using the maximum point sequence of the curvature function as the feed rate limit point sequence, calculating the feed rate limit value according to the curvature value corresponding to the maximum point sequence, and constructing an overall speed limit list based on the arc length value and the feed rate limit value; if the standard form of continuous trajectory is a hybrid continuous trajectory of the single-parameter continuous trajectory and the arc length parameter continuous trajectory concatenated, then calculating the speed limit list for each segment of the trajectory separately, and concatenating the speed limit lists for each segment of the trajectory to obtain an overall speed limit list.

[0017] Furthermore, in some embodiments, the construction module is also configured to: acquire CNC machining speed planning parameter values, the CNC machining speed planning parameter values ​​including programmed feed rate, maximum acceleration along the trajectory, and maximum jerk along the trajectory; calculate the arc length difference between the current point and the next point, and update the overall speed limit list in a forward scan based on the velocity, limit acceleration, and jerk of the current point to obtain the overall speed limit list after forward scan; calculate the arc length difference between the current point and the previous point, and update the overall speed limit list in a reverse scan based on the velocity, limit acceleration, and jerk of the current point to obtain the overall speed limit list after reverse scan; and obtain the overall speed limit list after scan based on the overall speed limit list after forward scan and the overall speed limit list after reverse scan.

[0018] Furthermore, in some embodiments, the generation module is specifically used to: calculate the arc length difference between the current point and the next point; calculate the first arc length required to increase the speed from the current point to the next point, the second arc length required to increase the speed from the current point to the programmed feed speed, and the third arc length required to increase the speed from the programmed feed speed to the next point based on the S-curve acceleration / deceleration; calculate the sum of the second arc length and the third arc length; and generate the integrated speed planning curve based on the arc length difference, the first arc length, and the sum.

[0019] Furthermore, in some embodiments, the generation module is further configured to: if the arc length difference is greater than the sum, then within the second arc length, accelerate from the current point's speed to the programmed feed speed based on a preset acceleration strategy, and move at a constant speed to the starting position of the third arc length based on the programmed feed speed, and decelerate from the programmed feed speed to the speed of the next point within the third arc length based on a preset deceleration strategy; if the arc length difference is equal to the sum, then within the second arc length, accelerate from the current point's speed to the programmed feed speed based on the preset acceleration strategy, and decelerate from the programmed feed speed to the speed of the next point within the third arc length based on a preset deceleration strategy; if the arc length difference is greater than the first arc length and less than the sum, then accelerate from the current point's speed to a preset intermediate speed based on the preset acceleration strategy, and then decelerate from the preset intermediate speed to the speed of the next point based on the preset deceleration strategy; if the arc length difference is equal to the first arc length, then within the first arc length, accelerate or decelerate from the current point's speed to the speed of the next point based on a preset speed adjustment strategy.

[0020] Furthermore, in some embodiments, the generation module is further configured to: obtain the interpolation period of the interpolation point, the initial arc length of the input parameter of the interpolation process, and the residual arc length of the output parameter of the interpolation process; when the continuous trajectory in the standard form is the single-parameter continuous trajectory, calculate the parameters of the initial interpolation point based on the initial arc length of the input parameter of the interpolation process, and perform interpolation update on the interpolation point based on the parameters of the initial interpolation point to obtain an interpolation point sequence based on the single-parameter continuous trajectory; and when the continuous trajectory in the standard form is the arc length parameter continuous trajectory, use the initial arc length of the input parameter of the interpolation process as the starting arc length parameter point, and perform interpolation update on the interpolation point based on the starting arc length parameter point to obtain an interpolation point sequence based on the arc length parameter continuous trajectory; obtain the overall interpolation point sequence based on the interpolation point sequence of the single-parameter continuous trajectory and / or the interpolation point sequence of the arc length parameter continuous trajectory to obtain the integrated speed planning result.

[0021] The continuous trajectory integrated speed planning device provided by the present invention acquires the continuous trajectory to be planned and converts it into a standard form, constructs an overall speed limit list and processes it using a forward and reverse bidirectional scanning method, then generates an integrated speed planning curve based on the processed list, interpolates the standard trajectory to obtain an overall interpolation point list, and then obtains the integrated speed planning result. This solves the problem that the speed planning method in related technologies has a limited scope of application and poor versatility, and improves the versatility of continuous trajectory integrated speed planning.

[0022] A third aspect of the present invention provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the continuous trajectory integrated speed planning method described in the above embodiments.

[0023] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the continuous trajectory integrated velocity planning method as described in the above embodiments.

[0024] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0026] Figure 1 A flowchart of the continuous trajectory integrated velocity planning method provided in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of a mixed-type continuous trajectory provided according to a specific embodiment of the present invention;

[0028] Figure 3 A schematic diagram illustrating the conversion of a trajectory into a standard form and the construction of an overall speed limit list according to a specific embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of an integrated speed planning curve provided according to a specific embodiment of the present invention;

[0030] Figure 5 A block diagram of a continuous trajectory integrated velocity planning device provided according to an embodiment of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0032] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0033] The following description, with reference to the accompanying drawings, outlines an integrated speed planning method, apparatus, electronic device, and medium for continuous trajectories according to embodiments of the present invention. Addressing the limitations and poor versatility of speed planning methods in the related art mentioned in the background section, the present invention provides an integrated speed planning method for continuous trajectories. This method involves acquiring the continuous trajectory to be planned and converting it into a standard form, constructing an overall speed limit list, processing it using a bidirectional scanning method, generating an integrated speed planning curve based on the processed list, interpolating the standard trajectory to obtain an overall interpolation point list, and thus obtaining the integrated speed planning result. This solves the problems of limited applicability and poor versatility of speed planning methods in the related art, improving the versatility of integrated speed planning for continuous trajectories.

[0034] Specifically, Figure 1 This is a flowchart of a continuous trajectory integrated velocity planning method provided according to an embodiment of the present invention.

[0035] like Figure 1 As shown, the continuous trajectory integrated velocity planning method includes the following steps:

[0036] In step S101, the continuous trajectory to be planned is obtained and converted into a standard form of continuous trajectory.

[0037] Among them, the standard form of continuous trajectory refers to a single-parameter continuous trajectory, or an arc-length parameter continuous trajectory, or a continuous mixed trajectory of single-parameter continuous trajectory and arc-length parameter continuous trajectory.

[0038] Furthermore, in some embodiments, the continuous trajectory to be planned is converted into a standard form of continuous trajectory, including: determining whether the continuous trajectory to be planned is a single type of continuous trajectory; if the continuous trajectory to be planned is a single type of continuous trajectory, then converting the continuous trajectory to be planned into a single-parameter continuous trajectory or an arc length parameter continuous trajectory; otherwise, dividing the continuous trajectory to be planned into multiple segments of single-type continuous trajectories, and converting the continuous trajectories of multiple types of continuous trajectories into single-parameter continuous trajectories or arc length parameter continuous trajectories respectively.

[0039] Among them, a single-type continuous trajectory refers to a continuous trajectory composed of the same motion form and geometric features; a mixed-type continuous trajectory refers to a continuous trajectory composed of trajectory segments with multiple different motion forms, geometric features or motion constraints; a single-parameter continuous trajectory refers to a continuous trajectory whose motion state such as position and velocity can be described by a single independent parameter, that is, a continuous mapping from a single parameter as an independent variable to a three-dimensional spatial position; and an arc length parameter continuous trajectory refers to a continuous trajectory described by the arc length of a point on the trajectory as an independent parameter, that is, a continuous mapping from the arc length parameter as an independent variable to a three-dimensional spatial position.

[0040] Figure 2 This is a schematic diagram of a hybrid type continuous trajectory provided according to a specific embodiment of the present invention, such as... Figure 2 As shown, both the G01 continuous polyline segment trajectory and the B-spline curve trajectory are single-parameter continuous trajectories. The trajectory formed by combining the G01 continuous polyline segment trajectory and the B-spline curve trajectory is a mixed-type continuous trajectory.

[0041] It should be noted that the arc length parameter continuous trajectory L(s) is a special case of the single parameter continuous trajectory L(u), but because it is simpler in subsequent velocity planning and interpolation, it can be regarded as a separate type of trajectory.

[0042] Specifically, a single-parameter continuous trajectory L(u) refers to a continuous mapping from a single parameter u as the independent variable to a position in three-dimensional space. The domain of the single parameter u is , where u start u is the starting point of the corresponding trajectory. end For the endpoint of the corresponding trajectory, trajectories such as NURBS curves, B-spline curves, and Bézier curves can be easily transformed into single-parameter continuous trajectories; the arc length parameter continuous trajectory L(s) refers to the continuous mapping from the arc length parameter s as the independent variable to the three-dimensional spatial position. The arc length parameter s is the cumulative arc length value along the trajectory direction starting from the starting point, and the domain of the arc length parameter s is... Commonly used trajectories in the CNC field, such as G01 continuous polyline trajectory, G02 / G03 circular arc trajectory, and special trajectories with arc length as a parameter, such as PH spline, can be easily converted into continuous trajectories with arc length as a parameter.

[0043] For example, the standard form of a single-parameter continuous trajectory L(u) requires the inclusion of a trajectory function L(u) and a domain u. start and u end curvature function ,For example The arc length function s(u), for example and the differential function of arc length ,For example Similarly, the standard form of a continuous trajectory L(s) with arc length parameter needs to include the trajectory function L(s), the total arc length send, and the curvature function. ,For example For mixed-type continuous trajectories, each segment of the trajectory is converted into a single-parameter continuous trajectory L(u) or an arc-length parameter continuous trajectory L(s) according to its type, and finally a mixed continuous trajectory of single-parameter continuous trajectory L(u) and arc-length parameter continuous trajectory L(s) is obtained.

[0044] It should be noted that the curvature function Arc length function s(u), arc length differential function and curvature function The expression is only one possible way to achieve this, and no specific limitation is made.

[0045] In step S102, an overall speed limit list is constructed based on a standard form of continuous trajectory, and the overall speed limit list is scanned using a preset forward and reverse bidirectional scanning method to obtain the scanned overall speed limit list.

[0046] The overall speed limit list refers to the speed constraints corresponding to each position or parameter point on the entire trajectory. The forward and reverse bidirectional scanning method refers to the algorithm that optimizes the overall speed limit list by traversing bidirectionally from the starting point to the ending point (forward) and from the ending point to the starting point (reverse).

[0047] Specifically, in some embodiments, constructing an overall speed limit list based on a standard form continuous trajectory includes: if the standard form continuous trajectory is a single-parameter continuous trajectory, then the maximum point sequence of the curvature function is used as the feed speed limit point sequence, the arc length value corresponding to the maximum point sequence is calculated according to the arc length function, and the feed speed limit value is calculated according to the curvature value corresponding to the maximum point sequence, and an overall speed limit list is constructed based on the arc length value and the feed speed limit value; if the standard form continuous trajectory is an arc length parameter continuous trajectory, then the maximum point sequence of the curvature function is used as the feed speed limit point sequence, the feed speed limit value is calculated according to the curvature value corresponding to the maximum point sequence, and an overall speed limit list is constructed based on the arc length value and the feed speed limit value; if the standard form continuous trajectory is a hybrid continuous trajectory consisting of a single-parameter continuous trajectory and an arc length parameter continuous trajectory connected in series, then the speed limit list for each segment of the trajectory is calculated separately, and the speed limit lists for each segment of the trajectory are connected in series to obtain an overall speed limit list.

[0048] For example, if the trajectory is a single-parameter continuous trajectory L(u), solving for the curvature function... maximum value This serves as a feed rate limit point series. The maximum point is calculated based on the arc length function s(u). Corresponding arc length value Based on the maximum point Corresponding curvature value Calculate the feed rate limit value Set the arc length value and feed rate limit value Add the start and end points to form the overall speed limit list. If the speed values ​​at the start and end points are 0, then the overall speed limit list for this segment of the trajectory is as follows:

[0049]

[0050] Furthermore, if the trajectory is a continuous trajectory L(s) with an arc length parameter, solve for the curvature function. Maximum point As a series of feed rate limiting points. Based on the maximum point. Corresponding curvature value Calculate the feed rate limit value Set the arc length value and feed rate limit value Supplement the starting and ending points to form a speed limit list. If the speed values ​​at the starting and ending points are 0, then the overall speed limit list for this segment of the trajectory is:

[0051]

[0052] Furthermore, since the trajectory is a hybrid continuous trajectory consisting of a single-parameter continuous trajectory L(u) and an arc length parameter continuous trajectory L(s), a speed limit list is calculated for each trajectory segment, and then the speed limit lists of each trajectory segment are concatenated in sequence. Assuming there are k trajectory segments to be concatenated, the connection points between the beginning and end of adjacent trajectory segments should be merged into one point; the arc length values ​​in the S list should be accumulated sequentially, and the total S list should be an increasing sequence; the starting point S value of the first trajectory segment is 0, the V value is 0, and the ending point S value of the last trajectory segment is the sum of the arc lengths of all k trajectory segments. The V value is 0; the V value at the connection point of any two intermediate trajectory segments can be calculated based on the angle of the fold on both sides of the connection point. The overall speed limit list for the series connection is as follows:

[0053]

[0054] It should be noted that the above-mentioned calculation of the corresponding feed rate limit based on the curvature value and the calculation of the V value at the connection point of any two intermediate trajectory segments based on the angle of the fold on both sides of the connection point can be defined by relevant technical personnel according to the specific situation, and no specific restrictions are imposed here.

[0055] Figure 3 A schematic diagram illustrating the conversion of a trajectory into a standard form and the construction of an overall speed limit list according to a specific embodiment of the present invention, as shown below. Figure 3As shown, the first segment is a continuous trajectory L(s) with arc length parameter, the second segment is a continuous trajectory L(u) with single parameter, and the third segment is a mixed type of continuous trajectory combining multiple continuous trajectories L(s) with arc length parameter and multiple continuous trajectories L(u). The corresponding overall speed limit list is the overall speed limit list obtained by concatenating the speed limit lists of each trajectory segment.

[0056] Furthermore, in some embodiments, the overall speed limit list is scanned using a preset forward and reverse bidirectional scanning method to obtain the scanned overall speed limit list, including: acquiring CNC machining speed planning parameter values, which include programmed feed rate, maximum acceleration along the trajectory, and maximum jerk along the trajectory; calculating the arc length difference between the current point and the next point, and updating the overall speed limit list in the forward direction based on the current point's speed, limit acceleration, and jerk, to obtain the overall speed limit list after forward scanning; calculating the arc length difference between the current point and the previous point, and updating the overall speed limit list in the reverse direction based on the current point's speed, limit acceleration, and jerk, to obtain the overall speed limit list after reverse scanning; and obtaining the scanned overall speed limit list based on the overall speed limit list after forward scanning and the overall speed limit list after reverse scanning.

[0057] Among them, the programmed feed rate refers to the speed at which the tool moves relative to the workpiece, the maximum acceleration along the trajectory refers to the maximum value of the speed change per unit time when the moving part moves along the predetermined trajectory, and the maximum jerk along the trajectory is a physical quantity describing the rate of change of acceleration, that is, the maximum value of the jerk when the moving part moves along the predetermined trajectory.

[0058] For example, let the programmed feed rate be V. program The maximum acceleration along the trajectory is A. max The maximum jerk along the trajectory is J max If the overall speed limit list has a length of N1, then the overall speed limit list is as follows:

[0059]

[0060] First, a forward scan is performed on the entire speed limit list, starting from j=1 and ending at j=N1-1. For example, if the currently scanned point is the j-th point, the effective arc length from the j-th point to the (j+1)-th point is calculated first. Secondly, based on the velocity V value at point j... j Calculate the effective arc length s under the conditions of limiting acceleration and jerk. e Maximum achievable speed V max Then, determine the velocity V value of the (j+1)th point. j+1 Does v satisfy? j+1 ≥Vmax or v j+1 ≥V program If the condition is met, it means that the V value at that point is too high, making it an invalid feed rate limit point. In this case, the (j+1)th point is removed from the overall feed rate limit (SV) list, and subsequent points are added forward. The effective arc length from the jth point to the (j+2)th point is then recalculated. Otherwise, retain the (j+1)th point, and calculate the effective arc length s when using the S-shaped velocity curve. e Maximum achievable speed V high Adjust the velocity V value at point j+1. j+1 For V high The smaller of the original values ​​in the list, i.e., v j+1 =min[v j+1 V high This ensures the positive reachability of the overall speed limit list.

[0061] After the forward scan, some invalid feed rate limit points have been removed from the overall speed limit list. Assuming the total length is now N2, a reverse scan is performed. The scan process starts from j=N2 and ends at j=2. For example, if the currently scanned point is the j-th point, the effective arc length from the j-th point to the (j-1)-th point is first calculated. Secondly, based on the velocity V value at point j... j Calculate the effective arc length s under the conditions of limiting acceleration and jerk. e Maximum achievable speed V max Then, determine the velocity V value of the (j-1)th point. j-1 Does v satisfy? j-1 ≥V max or v j-1 ≥V program If the condition is met, it means that the V value at that point is too high, making it an invalid feed rate limit point. In this case, the (j-1)th point is removed from the overall feed rate limit (SV) list, and the preceding point list is filled in backwards. The effective arc length from the j-th point to the (j-2)th point is recalculated. Otherwise, retain the (j-1)th point and calculate the effective arc length s when using the S-shaped velocity curve. e Maximum achievable speed V high Finally, adjust the velocity V value at point j-1. j-1 For V high The smaller of the original values ​​in the list, i.e., v j-1 =min[v j-1 V high This ensures the reverse reachability of the SV list.

[0062] It should be noted that during the scanning process, under the conditions of calculating the limiting acceleration and jerk, the effective arc length s is... eMaximum achievable speed V max First, calculate the critical arc length value at this point. If the effective arc length Less than or equal to the critical arc length value ,but ,in, For the equation The positive real root, if the effective arc length Greater than the critical arc length value ,but ,in, For the equation The real root.

[0063] Furthermore, during the scanning process, when calculating the effective arc length using an S-shaped velocity curve... Maximum achievable speed V high First, calculate the critical arc length value at this point. If the effective arc length Less than or equal to the critical arc length value ,but ,in For the equation The positive real root. If the effective arc length Greater than the critical arc length value ,but ,in For the equation The true root.

[0064] Furthermore, the overall speed limit list after reverse scanning also removes some invalid feed speed limit points. Assuming the overall speed limit list length is N3 at this point, after scanning the overall speed limit list in both forward and reverse directions, all invalid feed speed limit points are removed. The speed values ​​V of the remaining valid speed limit points are then adjusted to the actual achievable speed values ​​for S-curve acceleration and deceleration. The final overall speed limit list after scanning is as follows:

[0065]

[0066] In step S103, an integrated speed planning curve is generated based on the scanned overall speed limit list, and the continuous trajectory in standard form is interpolated based on the integrated speed planning curve to obtain an overall interpolation point list, and the integrated speed planning result is obtained based on the overall interpolation point list.

[0067] Among them, the integrated speed planning curve refers to the continuous and smooth speed curve generated by integrating multiple dimensions such as trajectory geometric characteristics, mechanical system constraints, and process requirements. The overall interpolation point series refers to the conversion of discrete trajectory segments into a continuous set of position points through interpolation algorithms in trajectory planning and motion control.

[0068] Furthermore, in some embodiments, an integrated speed planning curve is generated based on the scanned overall speed limit list, including: calculating the arc length difference between the current point and the next point; calculating the first arc length required to increase the speed from the current point to the next point, the second arc length required to increase the speed from the current point to the programmed feed speed, and the third arc length required to increase the speed from the programmed feed speed to the next point based on the S-curve acceleration and deceleration; calculating the sum of the second and third arc lengths; and generating the integrated speed planning curve based on the arc length difference, the first arc length, and the sum of the arc lengths.

[0069] Specifically, the scanned overall speed limit list satisfies the forward and reverse acceleration / deceleration reachability condition, meaning that any two consecutive points can be reached through an S-curve acceleration / deceleration process. Connecting points in the scanned overall speed limit list using S-curve acceleration / deceleration involves using the shortest arc length required to travel from the current point's speed to the next point's speed as the first arc length, the shortest arc length required to travel from the current point's speed to the programmed feed speed as the second arc length, and the shortest arc length required to travel from the programmed feed speed to the next point's speed as the third arc length, thereby generating a feed speed curve. This improves the continuity of the trajectory motion. To improve the efficiency of the trajectory motion, the trajectory is traversed at the highest possible feed speed. Depending on the different situations between adjacent points in the scanned overall speed limit list, different S-curve acceleration / deceleration processes are used for connection.

[0070] For example, the speed is calculated from v based on the S-curve acceleration and deceleration. a to v b The required shortest arc length s ab The method is as follows, let v b ≥v a ,like ,but , where a m The maximum acceleration achieved during the acceleration process .like ,but ,in The duration of the constant acceleration phase during acceleration. .

[0071] Furthermore, as one possible approach, assuming the current point is the j-th point, to obtain the velocity planning curve from the j-th point to the (j+1)-th point, the effective arc length (i.e., arc length difference) is first calculated. The speed was calculated based on the acceleration and deceleration of the S-curve. arrive Required shortest arc length (i.e., the first arc length), the velocity starts from... arrive The shortest arc length required for the acceleration process (i.e., the second arc length), the velocity from arrive The shortest arc length required for the deceleration process (i.e., the third arc length), and finally, based on different situations, plan the curve at the highest possible speed. It should be noted that since the overall speed limit list after scanning satisfies the conditions for acceleration and deceleration in both directions, it must satisfy the effective arc length (i.e., the arc length difference). Speed ​​greater than or equal to from arrive Required shortest arc length (i.e., the length of the first arc) Finally, based on the difference in arc length First arc length Second arc length Third arc length The sum of the second arc length and the third arc length Design speed planning curve.

[0072] In some embodiments, generating an integrated speed planning curve based on the arc length difference, the first arc length, and the sum of the values ​​includes: if the arc length difference is greater than the sum of the values, then within the second arc length, the speed at the current point is accelerated to the programmed feed speed based on a preset acceleration strategy, and then moves at a constant speed to the starting position of the third arc length based on the programmed feed speed, and then decelerates from the programmed feed speed to the speed of the next point within the third arc length based on a preset deceleration strategy; if the arc length difference is equal to the sum of the values, then within the second arc length, the speed at the current point is accelerated to the programmed feed speed based on a preset acceleration strategy, and then decelerates from the programmed feed speed to the speed of the next point within the third arc length based on a preset deceleration strategy; if the arc length difference is greater than the first arc length and less than the sum of the values, then within the first arc length, the speed at the current point is accelerated to a preset intermediate speed based on a preset acceleration strategy, and then decelerates from the preset intermediate speed to the speed of the next point based on a preset deceleration strategy; if the arc length difference is equal to the first arc length, then within the first arc length, the speed at the current point is accelerated or decelerated to the speed of the next point based on a preset speed adjustment strategy.

[0073] Among them, the preset acceleration strategy refers to different acceleration strategies from the current speed to the next speed, the preset deceleration strategy refers to different deceleration strategies from the current speed to the next speed, and the preset intermediate speed refers to any intermediate speed value from the current speed to the next speed.

[0074] For example, let the current point be the j-th point, if the arc length difference... Greater than the sum Then the velocity curve can be in the second arc length First, the speed starts from the current point. Accelerate to the programmed feed rate at a constant acceleration. And then Maintain programmed feed rate within arc length It moves at a constant speed, and finally at the third arc length The velocity of the internal deceleration to the next point is constant. If the arc length difference Equal to the sum Then the velocity curve can be in the second arc length First, the speed starts from the current point. Accelerate to the programmed feed rate at a constant acceleration. Then in the third arc length The velocity of the internal deceleration to the next point is constant. If the arc length difference Greater than the first arc length And less than the sum of values The velocity curve can be calculated by starting from the current point with the velocity... Accelerate to the median speed at a constant acceleration. Then immediately follow the constant acceleration from the intermediate velocity. Decelerate to the next point of speed If the arc length difference Equal to the length of the first arc The velocity curve can be derived from the velocity at the current point. Accelerate or decelerate directly to the next point of speed Among them, the median speed It should be as large as possible so that the total arc length of the acceleration and deceleration processes equals the difference in arc lengths. Thus, the integrated speed planning curve was obtained.

[0075] It should be noted that accelerating and decelerating at a constant acceleration is only one implementation method of the preset acceleration and deceleration strategies. Relevant technical personnel can set the acceleration and deceleration strategies according to the actual situation, and no specific restrictions are imposed here.

[0076] Figure 4 This is a schematic diagram of an integrated speed planning curve provided according to a specific embodiment of the present invention, such as... Figure 4 As shown, because the embodiments of the present invention connect various different trajectories into an overall speed limit list for integrated speed planning during the planning process, the final planned trajectory has very good continuity within segments and at the connection points between segments. In addition, the speed planning curve fully meets the restrictions of the overall speed limit list, ensuring that the feed rate does not exceed the limit value. This satisfies engineering requirements and actual conditions such as CNC machining contour error, machining efficiency, and machine tool physical axis limitations, and on this basis, achieves the highest possible motion efficiency.

[0077] Furthermore, in some embodiments, interpolation is performed on a standard-form continuous trajectory based on an integrated velocity planning curve to obtain an overall interpolation point sequence, thereby obtaining an integrated velocity planning result. This includes: obtaining the interpolation period of the interpolation point, the initial arc length of the input parameter of the interpolation process, and the residual arc length of the output parameter of the interpolation process; when the standard-form continuous trajectory is a single-parameter continuous trajectory, the parameters of the initial interpolation point are calculated based on the initial arc length of the input parameter of the interpolation process, and the interpolation point is updated based on the parameters of the initial interpolation point to obtain an interpolation point sequence based on the single-parameter continuous trajectory; and when the standard-form continuous trajectory is an arc length parameter continuous trajectory, the initial arc length of the input parameter of the interpolation process is used as the starting arc length parameter point, and the interpolation point is updated based on the starting arc length parameter point to obtain an interpolation point sequence based on the arc length parameter continuous trajectory; the overall interpolation point sequence is obtained based on the interpolation point sequence of the single-parameter continuous trajectory and / or the interpolation point sequence of the arc length parameter continuous trajectory, thus obtaining the integrated velocity planning result.

[0078] Among them, the interpolation period of the interpolation point refers to the time interval between the movement of two adjacent interpolation points, the initial arc length of the input parameter of the interpolation process refers to the arc length parameter of the starting point of the trajectory at the beginning of the interpolation process, and the residual arc length of the output parameter of the interpolation process refers to the arc length of the trajectory that has not been completed at the end of the interpolation process.

[0079] Specifically, each segment of the obtained integrated velocity planning curve is interpolated piecewise. To ensure the continuity of interpolation points at the connection points between adjacent segments, each segment's interpolation process has an input parameter: initial arc length s. initial And an output parameter, residual arc length s remain The residual arc length s of the first segment of the trajectory output in two adjacent segments. remain As the initial arc length s of the latter segment initial The input values ​​are interpolated sequentially to obtain the integrated speed planning result.

[0080] For example, for a single-parameter continuous trajectory L(u), first, based on the initial arc length s input parameter... initial Calculate the parameter value u of the initial interpolation point initial Then it enters the interpolation loop, targeting the parameter point u. i s is calculated using the arc length function s(u). i And query s based on the obtained integrated speed planning curve. i The corresponding current position feed rate v current Calculate arc length step size Using the arc length differential function calculate Calculate parameter step size Obtain the next parameter point The interpolation loop continues until s. iExceeding the total length s of the trajectory end When the time ends, the output parameter is the residual arc length s. remain =s i -s end Finally, based on the interpolation point sequence of parameter u, the interpolation point sequence is calculated using the trajectory function L(u).

[0081] Similarly, for a continuous trajectory L(s) with arc length as the parameter, the initial arc length s is input as the parameter. initial This serves as the starting arc length parameter point, and then the interpolation loop is entered, targeting the arc length parameter point s. i And query s based on the obtained integrated speed planning curve. i The corresponding current position feed rate v current Calculate arc length step size Obtain the next arc length parameter point. The interpolation loop continues until s. i Exceeding the total length s of the trajectory end When the time ends, the output parameter is the residual arc length s. remain =s i -s end Finally, based on the interpolation point sequence with arc length parameter s, the interpolation point sequence is calculated using the trajectory function L(s).

[0082] Therefore, the interpolation point series of each trajectory segment is concatenated to obtain the overall interpolation point series, which includes the result of integrated velocity planning.

[0083] The continuous trajectory integrated speed planning method provided by the present invention obtains the continuous trajectory to be planned and converts it into a standard form, constructs an overall speed limit list and processes it using a forward and reverse bidirectional scanning method, then generates an integrated speed planning curve based on the processed list, interpolates the standard trajectory to obtain an overall interpolation point list, and then obtains the integrated speed planning result. This solves the problem that the speed planning method in related technologies has a limited scope of application and poor versatility, and improves the versatility of continuous trajectory integrated speed planning.

[0084] Next, the continuous trajectory integrated speed planning device proposed according to an embodiment of the present invention is described with reference to the accompanying drawings.

[0085] Figure 5 A block diagram of a continuous trajectory integrated velocity planning device provided according to an embodiment of the present invention.

[0086] like Figure 5 As shown, the continuous trajectory integrated velocity planning device 10 includes: a data acquisition module 100, a construction module 200, and a generation module 300.

[0087] The acquisition module 100 is used to acquire the continuous trajectory to be planned and convert it into a standard form of continuous trajectory. The construction module 200 is used to construct an overall speed limit list based on the standard form of continuous trajectory and scan the overall speed limit list using a preset forward and reverse bidirectional scanning method to obtain the scanned overall speed limit list. The generation module 300 is used to generate an integrated speed planning curve based on the scanned overall speed limit list, and interpolate the standard form of continuous trajectory based on the integrated speed planning curve to obtain an overall interpolation point list, and obtain the integrated speed planning result based on the overall interpolation point list.

[0088] Furthermore, in some embodiments, the acquisition module 100 is specifically used to: determine whether the continuous trajectory to be planned is a single type of continuous trajectory; if the continuous trajectory to be planned is a single type of continuous trajectory, then convert the continuous trajectory to be planned into a single-parameter continuous trajectory or an arc length parameter continuous trajectory; otherwise, divide the continuous trajectory to be planned into multiple segments of single-type continuous trajectories, and convert the continuous trajectories of multiple types of continuous trajectories into single-parameter continuous trajectories or arc length parameter continuous trajectories respectively.

[0089] Further, in some embodiments, the construction module 200 is specifically used for: if the standard form of continuous trajectory is a single-parameter continuous trajectory, then the maximum point sequence of the curvature function is used as the feed rate limit point sequence, the arc length value corresponding to the maximum point sequence is calculated according to the arc length function, and the feed rate limit value is calculated according to the curvature value corresponding to the maximum point sequence, and an overall speed limit list is constructed based on the arc length value and the feed rate limit value; if the standard form of continuous trajectory is an arc length parameter continuous trajectory, then the maximum point sequence of the curvature function is used as the feed rate limit point sequence, the feed rate limit value is calculated according to the curvature value corresponding to the maximum point sequence, and an overall speed limit list is constructed based on the arc length value and the feed rate limit value; if the standard form of continuous trajectory is a hybrid continuous trajectory of single-parameter continuous trajectory and arc length parameter continuous trajectory concatenated, then the speed limit list of each trajectory segment is calculated separately, and the speed limit lists of each trajectory segment are concatenated to obtain an overall speed limit list.

[0090] Furthermore, in some embodiments, the construction module 200 is also used to: obtain CNC machining speed planning parameter values, including programmed feed rate, maximum acceleration along the trajectory, and maximum jerk along the trajectory; calculate the arc length difference between the current point and the next point, and update the overall speed limit list in the forward scan based on the current point's velocity, limit acceleration, and jerk, to obtain the overall speed limit list after the forward scan; calculate the arc length difference between the current point and the previous point, and update the overall speed limit list in the reverse scan based on the current point's velocity, limit acceleration, and jerk, to obtain the overall speed limit list after the reverse scan; and obtain the overall speed limit list after scanning based on the overall speed limit list after the forward scan and the overall speed limit list after the reverse scan.

[0091] Furthermore, in some embodiments, the generation module 300 is specifically used to: calculate the arc length difference between the current point and the next point; calculate the first arc length required to increase the speed from the current point to the next point, the second arc length required to increase the speed from the current point to the programmed feed speed, and the third arc length required to increase the speed from the programmed feed speed to the next point based on the S-curve acceleration and deceleration; calculate the sum of the second arc length and the third arc length; and generate an integrated speed planning curve based on the arc length difference, the first arc length, and the sum of the arc lengths.

[0092] Furthermore, in some embodiments, the generation module 300 is also configured to: if the arc length difference is greater than the sum, then within the second arc length, accelerate from the current point's speed to the programmed feed speed based on a preset acceleration strategy, and move at a constant speed to the starting position of the third arc length based on the programmed feed speed, and decelerate from the programmed feed speed to the speed of the next point within the third arc length based on a preset deceleration strategy; if the arc length difference is equal to the sum, then within the second arc length, accelerate from the current point's speed to the programmed feed speed based on a preset acceleration strategy, and decelerate from the programmed feed speed to the speed of the next point within the third arc length based on a preset deceleration strategy; if the arc length difference is greater than the first arc length and less than the sum, then accelerate from the current point's speed to a preset intermediate speed based on a preset acceleration strategy, and then decelerate from the preset intermediate speed to the speed of the next point based on a preset deceleration strategy; if the arc length difference is equal to the first arc length, then within the first arc length, accelerate or decelerate from the current point's speed to the speed of the next point based on a preset speed adjustment strategy.

[0093] Furthermore, in some embodiments, the generation module 300 is also used to: obtain the interpolation period of the interpolation point, the initial arc length of the input parameter of the interpolation process, and the residual arc length of the output parameter of the interpolation process; when the continuous trajectory in the standard form is a single-parameter continuous trajectory, calculate the parameter of the initial interpolation point based on the initial arc length of the input parameter of the interpolation process, and update the interpolation point based on the parameter of the initial interpolation point to obtain an interpolation point sequence based on the single-parameter continuous trajectory; and when the continuous trajectory in the standard form is an arc length parameter continuous trajectory, use the initial arc length of the input parameter of the interpolation process as the starting arc length parameter point, and update the interpolation point based on the starting arc length parameter point to obtain an interpolation point sequence based on the arc length parameter continuous trajectory; obtain the overall interpolation point sequence based on the interpolation point sequence of the single-parameter continuous trajectory and / or the interpolation point sequence of the arc length parameter continuous trajectory to obtain the integrated speed planning result.

[0094] The continuous trajectory integrated speed planning device provided by the present invention acquires the continuous trajectory to be planned and converts it into a standard form, constructs an overall speed limit list and processes it using a forward and reverse bidirectional scanning method, then generates an integrated speed planning curve based on the processed list, interpolates the standard trajectory to obtain an overall interpolation point list, and then obtains the integrated speed planning result. This solves the problem that the speed planning method in related technologies has a limited scope of application and poor versatility, and improves the versatility of continuous trajectory integrated speed planning.

[0095] Figure 6 This is a schematic diagram of an electronic device provided according to an embodiment of the present invention. The electronic device may include:

[0096] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0097] When the processor 602 executes the program, it implements the continuous trajectory integrated speed planning method provided in the above embodiments.

[0098] Furthermore, the electronic device also includes:

[0099] Communication interface 603 is used for communication between memory 601 and processor 602.

[0100] The memory 601 is used to store computer programs that can run on the processor 602.

[0101] The memory 601 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0102] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0103] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0104] Processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0105] In addition, embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described continuous trajectory integrated velocity planning method.

[0106] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0107] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0108] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0109] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0110] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A continuous trajectory integrated velocity planning method, characterized in that, Includes the following steps: Obtain the continuous trajectory to be planned, and convert the continuous trajectory to be planned into a standard form of continuous trajectory; Based on the continuous trajectory in the standard form, an overall speed limit list is constructed, and the overall speed limit list is scanned by a preset forward and reverse bidirectional scanning method to obtain the scanned overall speed limit list; Based on the scanned overall speed limit list, an integrated speed planning curve is generated, and the standard form continuous trajectory is interpolated based on the integrated speed planning curve to obtain an overall interpolation point list. The integrated speed planning result is obtained based on the overall interpolation point list. The step of scanning the overall speed limit list using a preset forward and reverse bidirectional scanning method to obtain the scanned overall speed limit list includes: acquiring CNC machining speed planning parameter values, which include programmed feed rate, maximum acceleration along the trajectory, and maximum jerk along the trajectory; calculating the arc length difference between the current point and the next point, and updating the overall speed limit list in a forward scan based on the current point's speed, maximum acceleration, and jerk, to obtain the overall speed limit list after a forward scan; calculating the arc length difference between the current point and the previous point, and updating the overall speed limit list in a reverse scan based on the current point's speed, maximum acceleration, and jerk, to obtain the overall speed limit list after a reverse scan; and obtaining the scanned overall speed limit list based on the overall speed limit list after a forward scan and the overall speed limit list after a reverse scan.

2. The method according to claim 1, characterized in that, The process of converting the continuous trajectory to be planned into a standard form of continuous trajectory includes: Determine whether the continuous trajectory to be planned is a single type of continuous trajectory; If the continuous trajectory to be planned is a single type of continuous trajectory, then the continuous trajectory to be planned is converted into a single-parameter continuous trajectory or an arc length parameter continuous trajectory. Otherwise, the continuous trajectory to be planned is divided into multiple segments of a single type of continuous trajectory, and the multiple segments of a single type of continuous trajectory are converted into single-parameter continuous trajectories or arc length parameter continuous trajectories respectively.

3. The method according to claim 2, characterized in that, The overall speed limit list is constructed based on the continuous trajectory of the standard form, including: If the standard form of the continuous trajectory is the single-parameter continuous trajectory, then the maximum point sequence of the curvature function is used as the feed rate limit point sequence. The arc length value corresponding to the maximum point sequence is calculated according to the arc length function, and the feed rate limit value is calculated according to the curvature value corresponding to the maximum point sequence. Based on the arc length value and the feed rate limit value, an overall speed limit list is constructed. If the continuous trajectory in the standard form is the continuous trajectory of the arc length parameter, then the maximum point sequence of the curvature function is taken as the feed rate limit point sequence, the feed rate limit value is calculated according to the curvature value corresponding to the maximum point sequence, and an overall speed limit list is constructed based on the arc length value and the feed rate limit value. If the standard form of the continuous trajectory is a hybrid continuous trajectory consisting of the single-parameter continuous trajectory and the arc length parameter continuous trajectory, then calculate the speed limit list for each segment of the trajectory, and concatenate the speed limit lists of each segment of the trajectory to obtain the overall speed limit list.

4. The method according to claim 1, characterized in that, The process of generating an integrated speed planning curve based on the scanned overall speed limit list includes: Calculate the arc length difference between the current point and the next point, and calculate the first arc length required to increase the speed from the current point to the next point, the second arc length required to increase the speed from the current point to the programmed feed speed, and the third arc length required to increase the speed from the programmed feed speed to the next point based on the S-curve acceleration and deceleration. Calculate the sum of the second arc length and the third arc length, and generate the integrated speed planning curve based on the arc length difference, the first arc length, and the sum.

5. The method according to claim 4, characterized in that, The step of generating the integrated velocity planning curve based on the arc length difference, the first arc length, and the sum includes: If the difference in arc length is greater than the sum, then within the second arc length, the speed of the current point is accelerated to the programmed feed speed based on a preset acceleration strategy, and then moves at a constant speed to the starting position of the third arc length based on the programmed feed speed, and then decelerates from the programmed feed speed to the speed of the next point within the third arc length based on a preset deceleration strategy. If the arc length difference is equal to the sum, then based on the preset acceleration strategy, within the second arc length, the speed from the current point is accelerated to the programmed feed speed, and based on the preset deceleration strategy, within the third arc length, the speed is decelerated from the programmed feed speed to the speed of the next point. If the arc length difference is greater than the first arc length and less than the sum, then based on the preset acceleration strategy, the speed at the current point is accelerated to a preset intermediate speed, and then based on the preset deceleration strategy, the speed at the preset intermediate speed is decelerated to the speed at the next point. If the arc length difference is equal to the first arc length, then based on the preset speed adjustment strategy, within the first arc length, the speed at the current point is accelerated or decelerated to the speed at the next point.

6. The method according to claim 1, characterized in that, The process of interpolating the standard form of continuous trajectory based on the integrated velocity planning curve to obtain an overall interpolation point sequence, and obtaining the integrated velocity planning result based on the overall interpolation point sequence, includes: Obtain the interpolation period of the interpolation point, the initial arc length as the input parameter of the interpolation process, and the residual arc length as the output parameter of the interpolation process; When the standard form of continuous trajectory is a single-parameter continuous trajectory, the parameters of the initial interpolation point are calculated based on the initial arc length input parameter of the interpolation process, and the interpolation point is updated by interpolation based on the parameters of the initial interpolation point to obtain an interpolation point sequence based on the single-parameter continuous trajectory; and when the standard form of continuous trajectory is an arc length parameter continuous trajectory, the initial arc length input parameter of the interpolation process is used as the starting arc length parameter point, and the interpolation point is updated by interpolation based on the starting arc length parameter point to obtain an interpolation point sequence based on the arc length parameter continuous trajectory; The overall interpolation point sequence is obtained based on the interpolation point sequence of the single-parameter continuous trajectory and / or the interpolation point sequence of the arc length parameter continuous trajectory, thus obtaining the integrated velocity planning result.

7. A continuous trajectory integrated speed planning device, characterized in that, include: The acquisition module is used to acquire the continuous trajectory to be planned and convert the continuous trajectory to be planned into a standard form of continuous trajectory; The construction module is used to construct an overall speed limit list based on the continuous trajectory in the standard form, and scan the overall speed limit list through a preset forward and reverse bidirectional scanning method to obtain the scanned overall speed limit list; The generation module is used to generate an integrated speed planning curve based on the scanned overall speed limit list, and to interpolate the continuous trajectory in the standard form based on the integrated speed planning curve to obtain an overall interpolation point list, and to obtain the integrated speed planning result based on the overall interpolation point list. Specifically, the construction module is used to: obtain CNC machining speed planning parameter values, which include programmed feed speed, maximum acceleration along the trajectory, and maximum jerk along the trajectory; calculate the arc length difference between the current point and the next point; and update the overall speed limit list by forward scanning based on the speed, limit acceleration, and jerk of the current point to obtain the overall speed limit list after forward scanning. Calculate the arc length difference between the current point and the previous point, and update the overall velocity limit list by reverse scanning based on the velocity, limit acceleration, and jerk of the current point to obtain the overall velocity limit list after reverse scanning; based on the overall velocity limit list after forward scanning and the overall velocity limit list after reverse scanning, obtain the overall velocity limit list after scanning.

8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the continuous trajectory integrated velocity planning method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the continuous trajectory integrated velocity planning method as described in any one of claims 1-6.

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