Control method, device and equipment of transportation device for moving object through motor and readable storage medium

Abstract

The invention discloses a control method, device and equipment of a transportation device for moving objects through a motor and a readable storage medium, and relates to the technical field of motor control, and the control method comprises the steps that a plurality of output positions of the motor at a plurality of different time points within a preset time period are obtained; processing the plurality of output positions to obtain the calibrated output position of the motor at the last time point in the plurality of different time points; based on the calibrated output position, the target position and the compensation time, obtaining the trigger time of the trigger signal, wherein the compensation time at least comprises a first delay time determined by a plurality of different time points; and sending a trigger signal based on the trigger signal trigger time. According to the invention, the problems of large deviation between the output position of the motor and the target position and poor precision after the time when the output position of the motor reaches the target position calculated based on the current output position of the motor are solved.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a control method, device, equipment and readable storage medium for a transportation device that moves an object via a motor. Background Art

[0002] In a transport device that uses a motor as a driving unit to move objects, especially under conditions where the moving object is moving at a very high speed, it may be necessary to accurately know the time when the object will arrive at the target location before the object reaches the target location, so that other cooperating devices can be prepared in advance to perform corresponding operations, such as taking a photo, at the time the object arrives at the target location. Otherwise, when the object actually arrives at the target location, the other cooperating devices will not have time to perform the corresponding operations. This is because the other cooperating devices themselves also need time to react and process, or performing the corresponding operations also requires preparation steps. Since the moving object is moving at a very high speed, the other cooperating devices may need to prepare in advance to perform corresponding operations at the time the object arrives at the target location with an accuracy of milliseconds. Therefore, based on the current motor output position, the time A when the motor output position reaches the target position can be calculated. However, after the time A has passed, the motor output position is not at the target position, but is near the target position, with a large deviation and uncertainty, which is large when the time is small. Summary of the Invention

[0003] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a control method, device, equipment and readable storage medium for a transportation device that moves objects by a motor, which can solve the problem that after the time when the output position of the motor calculated based on the output position of the current motor reaches the target position, the output position of the motor deviates greatly from the target position and has poor accuracy.

[0004] The specific technical solution of the embodiment of the present invention is:

[0005] A method for controlling a transport device for moving an object by a motor, the method comprising:

[0006] Obtain multiple output positions of the motor at multiple different time points within a preset time period;

[0007] Processing the plurality of output positions to obtain a calibrated output position of the motor at a last time point among a plurality of different time points;

[0008] Acquire a trigger signal trigger time based on the calibrated output position, the target position, and the compensation time, wherein the compensation time at least includes a first lag time determined by a plurality of different time points;

[0009] A trigger signal is sent based on the trigger signal trigger time.

[0010] Preferably, the first lag time is the detection time lag of the calibrated output position of the motor at the last time point due to the time difference generated by the acquisition of multiple different time points.

[0011] Preferably, the step of sending a trigger signal based on the trigger signal trigger time specifically includes: starting timing from the last time point, and sending a trigger signal when the time length reaches the trigger signal trigger time.

[0012] Preferably, the last time point among the multiple different time points is the current time.

[0013] Preferably, in the step of acquiring a plurality of output positions of the motor at a plurality of different time points within a preset time period, at the plurality of different time points, each adjacent time point is separated by the same sampling interval.

[0014] Preferably, if the trigger signal trigger time is shorter than the sampling interval time, the trigger signal trigger time is obtained based on the output position, target position and compensation time of the motor at the last time point in the preset time period, and the output position of the motor at the last time point in the preset time period is the output position of the motor at the current time.

[0015] Preferably, in the step of processing the multiple output positions to obtain the calibrated output position of the motor at the last time point among multiple different time points, the multiple output positions are averaged to obtain the calibrated output position of the motor at the last time point among multiple time points, and the average processing adopts one of the following methods: arithmetic average method, square average method, harmonic mean method, and weighted average method.

[0016] Preferably, when the averaging process adopts an arithmetic mean method, the specific process of processing the multiple output positions to obtain the calibrated output position of the motor at the last time point among multiple different time points is as follows:

[0017] P ave =(P n +P n-1 +P n-2 +···P n-m-1 ) / m,

[0018] Among them, P n 、P n-1 、P n-2 、···、P n-m-1 Represents multiple output positions of the motor at multiple different time points, m represents the number of multiple different time points, Pave Indicates the calibrated output position of the motor at the last time point among multiple time points.

[0019] Preferably, among the multiple different time points, each adjacent time point is separated by the same sampling interval;

[0020] The specific calculation process of the first lag time is as follows:

[0021] t c =t s ×(m-1) / 2,

[0022] Among them, t c represents the first lag time, t s Indicates the sampling interval.

[0023] Preferably, in the step of obtaining the trigger signal trigger time based on the processed output position, target position and compensation time, the specific calculation process is as follows:

[0024] T=(P t –P ave ) / V ave -t c

[0025] =(P t –(P n +P n-1 +P n-2 +···P n-m-1 ) / m) / V ave -(t s ×(m-1) / 2), where P t represents the target position, V ave Indicates the average speed of the motor.

[0026] Preferably, the compensation time also includes: external device delay time, servo controller delay time;

[0027] In the step of obtaining the trigger signal trigger time based on the processed output position, target position and compensation time, the specific calculation process is as follows:

[0028] T=(P t –P ave ) / V ave -t a -t b -t c

[0029] =(P t –(P n +P n-1 +P n-2+···P n-m-1 ) / m) / V ave -t a -t b -(t s ×(m-1) / 2), where t a Indicates the servo controller delay time, t b Indicates the external device delay time.

[0030] A control device for a transport device that moves an object by a motor, the control device comprising:

[0031] An output position acquisition module is used to acquire multiple output positions of the motor at multiple different time points within a preset time period;

[0032] a calibration module, configured to process the plurality of output positions to obtain a calibrated output position of the motor at a last time point among a plurality of different time points;

[0033] a trigger signal triggering time calculation module, configured to obtain a trigger signal triggering time based on the calibrated output position, the target position, and a compensation time, wherein the compensation time at least includes a first lag time determined by a plurality of different time points;

[0034] A timing module is used to send a trigger signal based on the trigger time of the trigger signal.

[0035] A control device for a transport device that moves objects by a motor comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the control methods described above when executing the computer program.

[0036] A computer-readable storage medium stores a computer program for executing any one of the control methods described above.

[0037] The technical solution of the present invention has the following significant beneficial effects:

[0038] The control method for a transport device that uses a motor to move an object in the present application can utilize multiple output positions of the motor at multiple different time points within a preset time period to obtain a calibrated output position of the motor at the last of the multiple different time points. The calibrated output position of the motor can be closer to the position where the motor's output position moves forward at an averaged velocity V. The trigger signal triggering time obtained by adding a compensation time including a first lag time determined by the multiple different time points using the calibrated output position of the motor is more accurate. After the trigger signal triggering time, the motor's output position can be closer to the target position, and the error is suppressed, effectively improving the accuracy of the fixed-point output. In the prior art, the output position of the motor may produce an error within the range between the Pt1min position and the Pt2max position. However, in the present application, under ideal conditions, the output position of the motor may produce an error within the range between the Pt3min position and the Pt3max position. The error is effectively suppressed, and in the best case, it can be reduced to 1 / 2 of the original.

[0039] With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating how the principles of the present invention can be employed. It should be understood that the embodiments of the present invention are not limited in scope thereby. Features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the drawings are merely illustrative and are used to help understand the present invention, and are not intended to specifically limit the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to specific circumstances under the guidance of the present invention.

[0041] Figure 1 A theoretical schematic diagram of possible situations between the output position of the motor and the target position after the time when the output position of the motor reaches the target position, which is calculated based on the output position of the current motor;

[0042] Figure 2 Flowchart of the steps of a method for controlling a transport device for moving an object by a motor according to an embodiment of the present invention;

[0043] Figure 3 A theoretical schematic diagram of obtaining multiple output positions of a motor at multiple different time points within a preset time period and obtaining a calibrated output position of the motor in an embodiment of the present invention;

[0044] Figure 4 Schematic diagram of the structure of a control device for a transport device that moves objects via a motor in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The details of the present invention can be more clearly understood in conjunction with the accompanying drawings and the description of the specific embodiments of the present invention. However, the specific embodiments of the present invention described herein are for illustrative purposes only and are not to be construed as limiting the present invention in any way. Based on the teachings of the present invention, skilled artisans can conceive of any possible variations based on the present invention, all of which should be considered within the scope of the present invention. It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there can be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there can be an intermediate element. The terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, internal communication between two elements, direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms based on the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are intended only to describe specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0047] In response to the problem that after the time when the output position of the motor calculated based on the output position of the current motor reaches the target position, the output position of the motor deviates greatly from the target position and the accuracy is poor, the applicant found through analysis that when obtaining the output position of the current motor, the output position of the current motor is not a stable and accurate value. Each time the value is obtained, there are various external influencing factors and the constraints of the motor's own performance characteristics, which causes the value obtained each time to fluctuate up and down. Therefore, the time when the output position of the motor calculated based on this calculation reaches the target position is not completely accurate, which leads to the fact that after the time when the output position of the motor calculated based on the output position of the current motor reaches the target position, the output position of the motor may have far exceeded the target position, or may not have reached the target position.

[0048] Figure 1This is a theoretical diagram of the possible situations between the output position of the motor and the target position after the output position of the motor reaches the target position, which is calculated based on the output position of the current motor. Figure 1 As shown in the figure, from a macroscopic point of view, the output position of the motor moves forward at an averaged speed V. However, from a microscopic point of view, the output position of the motor may be affected by vibration, and the speed of the motor at different angles during rotation may have slight differences, etc. Therefore, the output position of the motor is not completely uniform, but only close to the averaged speed V. Figure 1 As shown in , for example, the output position of the motor fluctuates slightly over time, sometimes fast and sometimes slow. When the time when the output position of the motor reaches the target position is calculated based on the current output position of the motor, if the point where the output position of the current motor is collected is point P1 in the figure, then the position of point P1 is relatively close to the target position. In this way, the time when the output position of the motor reaches the target position will be calculated to be too short. After this time, the output position of the motor may not have reached the target position yet, and it will only be at the Pt1min position. If the point where the output position of the current motor is collected is point P2 in the figure, then the position of point P2 is relatively far from the target position. In this way, the time when the output position of the motor reaches the target position will be calculated to be too long. After this time, the output position of the motor will exceed the target position and will be at the Pt2max position.

[0049] Therefore, based on the time when the output position of the motor reaches the target position, which is calculated based on the output position of the current motor, the output position of the motor may appear at any position between the Pt1min position and the Pt2max position. If the point where the output position of the current motor is collected is point P3 in the figure, that is, the same position where the output position of the macro motor moves forward at the averaged speed V, then considering the fluctuation of the output position of the motor itself, then after the actual time when the output position of the motor reaches the target position, the output position of the motor can only be between the Pt3min position and the Pt3max position. Through the above analysis, it can be found that its accuracy will be much higher than the case where the output position of the current motor is collected at points P1 and P2. The ultimate reason for the above problem is the collected output position of the current motor. The more the collected output position of the current motor deviates from the position where the output position of the macro motor moves forward at the averaged speed V, the greater the deviation between the final output position of the motor and the target position, and the worse the accuracy.

[0050] Since the output position of the motor may be affected by vibration, and the speed of the motor at different angles during rotation may have slight differences, etc., it is unavoidable that there is always the randomness of collecting the current output position of the motor. Therefore, the applicant proposes in this application a control method for a transportation device that moves objects by a motor, which can solve the above problems. Figure 2 FIG. 1 is a flow chart of the steps of a method for controlling a transport device for moving an object by a motor in an embodiment of the present invention. Figure 2 As shown, the control method of a transport device for moving an object by a motor may include the following steps:

[0051] S101: Acquire multiple output positions of the motor at multiple different time points within a preset time period.

[0052] In the above steps, when the transport device is driven by the motor to move the object, from a macroscopic perspective, the output position of the motor moves at an averaged speed V, that is, the object moves at the averaged speed V. Multiple output positions of the motor at multiple different time points within a preset time period are obtained, for example, each time point corresponds to an output position. The above preset time period can be determined based on the processor's computing speed, or can be related to the object's speed V. If the speed V is relatively fast, then the length of the preset time period selected should be relatively short. If the speed V is relatively slow, then the length of the preset time period selected should be relatively long. The period in which the output position of the motor fluctuates is very short. As a feasible option, the preset time period can be equal to or close to the period in which the output position of the motor fluctuates. In this way, the multiple output positions of the motor obtained can be maximized, and similar output positions will not appear in different periods. In addition, the calibrated output position of the motor in subsequent steps is closer to the macroscopic output position of the motor moving forward at the averaged speed V.

[0053] Figure 3 This is a theoretical schematic diagram of obtaining multiple output positions of a motor at multiple different time points within a preset time period and obtaining the calibrated output position of the motor in an embodiment of the present invention, such as Figure 3 As shown, the preset time period can be a period of time before the current time, which may or may not include the current time. Generally speaking, in order for subsequent steps to accurately and conveniently obtain the trigger signal triggering time, the preset time period includes the current time. Among multiple different time points, each adjacent time point can be separated by the same sampling interval time, or by different sampling interval time. Similarly, generally speaking, in order for subsequent steps to accurately and conveniently obtain the trigger signal triggering time, as a preference, each adjacent time point is separated by the same sampling interval time.

[0054] The above steps can reduce the randomness of collecting the current output position of the motor to a certain extent.

[0055] S102: Processing the multiple output positions to obtain a calibrated output position of the motor at a last time point among the multiple different time points.

[0056] In this step, if Figure 3 As shown, the multiple output positions can be averaged to obtain the calibrated output position of the motor at the last time point among the multiple time points. When the preset time period includes the current time, the last time point among the multiple different time points is the current time.

[0057] For example, the averaging process uses one of the following methods: arithmetic mean, square mean, harmonic mean, weighted mean, etc., which are not specifically limited in this application.

[0058] For example, when the averaging process uses the arithmetic mean method, the specific process of processing multiple output positions to obtain the calibrated output position of the motor at the last time point among multiple different time points is as follows:

[0059] P ave =(P n +P n-1 +P n-2 +···P n-m-1 ) / m,

[0060] Among them, P n 、P n-1 、P n-2 、···、P n-m-1 Represents multiple output positions of the motor at multiple different time points, m represents the number of multiple different time points, P ave Indicates the calibrated output position of the motor at the last time point among multiple time points.

[0061] In this step, the calibrated output position of the motor at the last time point among multiple different time points is obtained by processing multiple output positions. The calibrated output position of the motor can be relatively close to the position of the macroscopic motor output position moving forward at the averaged speed V, avoiding the acquisition of Figure 1 The positions of P1 and P2 in the middle can help reduce the deviation between the final motor output position and the target position and improve accuracy.

[0062] S103: Acquire a trigger signal trigger time based on the calibrated output position, the target position, and the compensation time, where the compensation time at least includes a first lag time determined by a plurality of different time points.

[0063] In the above steps, the trigger signal triggering time can be obtained based on the calibrated output position, the target position, and the compensation time. After the trigger signal triggering time, a trigger signal can be sent to other cooperating devices. After receiving the trigger signal, the other cooperating devices immediately perform the corresponding operation. When the other cooperating devices perform the corresponding operation, it is just when the object moved by the motor reaches the target position. On the one hand, since multiple output positions of the motor at multiple different time points are collected in steps S101 and S102, and then the multiple output positions are used to process to obtain the calibrated output position of the motor at the last time point among the multiple different time points, the output position of the motor is constantly moving forward. Therefore, the corresponding output positions at different time points are all lagging behind the output position of the motor at the last time point. The calibrated output position of the motor at the last time point among the multiple different time points obtained by the multiple output positions of the motor at the multiple different time points is also lagging behind. Therefore, it is necessary to adjust the compensation time to obtain a more accurate trigger signal triggering time. The compensation time at least includes a first lag time determined by the multiple different time points. The first lag time is the time lag of the detection moment of the calibrated output position of the motor at the last time point due to the time difference generated by the multiple different time points obtained.

[0064] Specifically, among multiple different time points, each adjacent time point is separated by the same sampling interval, and the specific calculation process of the first lag time is as follows:

[0065] t c =t s ×(m-1) / 2,

[0066] Among them, t c represents the first lag time, t s Indicates the sampling interval.

[0067] Corresponding to the above process, in the step of obtaining the trigger signal trigger time based on the processed output position, target position and compensation time, the specific calculation process is as follows:

[0068] T=(P t –P ave ) / V ave -t c

[0069] =(P t –(P n +P n-1 +P n-2 +···P n-m-1 ) / m) / V ave -(t s ×(m-1) / 2),

[0070] Among them, P t represents the target position, V ave Indicates the average speed of the motor.

[0071] On the other hand, since a trigger signal is sent to other cooperating devices, other cooperating devices receive the trigger signal, immediately perform corresponding operations, etc., which all require reaction time and action time. Therefore, the servo controller delay time corresponding to the motor and the external device delay time also need to be considered. The external device includes other cooperating devices.

[0072] Furthermore, the compensation time may include: external device delay time, servo controller delay time. Correspondingly, in the step of obtaining the trigger signal trigger time based on the processed output position, target position and compensation time, the specific calculation process is as follows:

[0073] T=(P t –P ave ) / V ave -t a -t b -t c

[0074] =(P t –(P n +P n-1 +P n-2 +···P n-m-1 ) / m) / V ave -t a -t b -(t s ×(m-1) / 2), where t a Indicates the servo controller delay time, t b Indicates the external device delay time.

[0075] As a feasible method, if the trigger signal triggering time is shorter than the sampling interval time, the trigger signal triggering time can be directly obtained based on the output position, target position and compensation time of the motor at the last time point in the preset time period. In this calculation process, only the external device delay time and the servo controller delay time need to be considered in the compensation time. The output position of the motor at the last time point in the preset time period is the output position of the motor at the current time. Since the time interval between the time of obtaining the motor output position and the time interval between the motor output position reaching the target position is too small and very close, if multiple output positions of the motor at multiple different time points in the preset time period are obtained and then the trigger signal triggering time is obtained, the obtained trigger signal triggering time will be less accurate and the error will be increased.

[0076] S104: Send a trigger signal based on the trigger signal trigger time.

[0077] In this step, timing begins at the last time point. When the time length reaches the trigger signal trigger time, a trigger signal is sent, for example, to other cooperating devices. Upon receiving the trigger signal, the other cooperating devices immediately begin to perform the corresponding operation. When the corresponding operation is actually performed, the output position of the motor just reaches the target position or near the target position. At this time, the other cooperating devices can perform the corresponding operation on the object at or near the target position being moved by the motor. For example, if a conveyor belt is driven by a motor to move objects on the conveyor belt, and the objects move at a very high speed, the camera device will immediately begin to perform the camera operation upon receiving the trigger signal. At this time, the output position of the motor just reaches the target position or near the target position, and the camera device can take a photo of the object at or near the target position being moved by the motor at high speed.

[0078] The control method of the transportation device for moving objects by a motor in the present application can obtain a calibrated output position of the motor at the last time point among the multiple different time points by processing the multiple output positions of the motor at multiple different time points obtained within a preset time period. The calibrated output position of the motor can be closer to the position where the output position of the motor moves forward at an averaged speed V. The trigger signal triggering time obtained by adding the compensation time including the first lag time determined by multiple different time points to the calibrated output position of the above-mentioned motor is more accurate. After the trigger signal triggering time, the output position of the motor can be closer to the target position, the error is suppressed, and the accuracy of the fixed-point output is effectively improved. Figure 1 As shown, in the prior art, the output position of the motor may produce an error in the range between the Pt1min position and the Pt2max position, while in the present application, under ideal circumstances, the output position of the motor may produce an error in the range between the Pt3min position and the Pt3max position, and the error is effectively suppressed, and in the best case can reach 1 / 2 of the original.

[0079] This application also proposes a control device for a transport device that moves objects via a motor. The principles and technical effects achieved by the control device for a transport device that moves objects via a motor are similar to those of the control method for a transport device that moves objects via a motor. Therefore, the implementation of the control device for a transport device that moves objects via a motor can refer to the control method for a transport device that moves objects via a motor, and will not be further described here. The term "module" used below can be implemented based on software, hardware, or a combination of software and hardware.

[0080] Figure 4FIG. 1 is a schematic structural diagram of a control device for a transport device that moves an object by a motor in an embodiment of the present invention. Figure 4 As shown, the control device may include:

[0081] The output position acquisition module 101 is used to acquire multiple output positions of the motor at multiple different time points within a preset time period;

[0082] A calibration module 102 is configured to process the plurality of output positions to obtain a calibrated output position of the motor at a last time point among a plurality of different time points;

[0083] A trigger signal triggering time calculation module 103 is configured to obtain a trigger signal triggering time based on the calibrated output position, the target position, and a compensation time, where the compensation time includes at least a first lag time determined by a plurality of different time points;

[0084] The timing module 104 is configured to send a trigger signal based on a trigger time of the trigger signal.

[0085] This application also proposes a control device for a transport device that uses a motor to move objects, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the aforementioned control methods is implemented. Specifically, the computer device may be a computer terminal, server, or similar computing device.

[0086] The present application also proposes a computer-readable storage medium, which stores a computer program for executing any one of the above control methods.

[0087] Specifically, computer-readable storage media include permanent and non-permanent, removable and non-removable media that can be used to store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media does not include temporary computer-readable media (TRANSITORY MEDIA), such as modulated data signals and carrier waves.

[0088] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0089] All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for all purposes. The term "essentially consisting of..." describing a combination should include the identified elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel features of the combination. The use of the terms "comprising" or "including" to describe the combination of elements, ingredients, parts or steps herein also contemplates an embodiment that is essentially composed of these elements, ingredients, parts or steps. By using the term "may", it is intended to illustrate that any attribute described that "may" include is optional. Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "an" used to describe an element, ingredient, part or step is not intended to exclude other elements, ingredients, parts or steps.

[0090] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling a transport device that moves an object by a motor, characterized in that: The control method includes: Obtain multiple output positions of the motor at multiple different time points within a preset time period; Processing the plurality of output positions to obtain a calibrated output position of the motor at a last time point among a plurality of different time points; Acquire a trigger signal trigger time based on the calibrated output position, the target position, and the compensation time, wherein the compensation time at least includes a first lag time determined by a plurality of different time points; A trigger signal is sent based on the trigger signal trigger time.

2. The control method according to claim 1, characterized in that: The first lag time is the time lag of the detection moment of the calibrated output position of the motor at the last time point due to the time difference generated by the multiple different time points obtained.

3. The control method according to claim 1, wherein: The step of sending a trigger signal based on the trigger signal trigger time specifically includes: starting timing from the last time point, and sending a trigger signal when the time length reaches the trigger signal trigger time.

4. The control method according to claim 1, wherein: The last time point among the multiple different time points is the current time.

5. The control method according to claim 1, characterized in that: In the step of acquiring a plurality of output positions of the motor at a plurality of different time points within a preset time period, at the plurality of different time points, each adjacent time point is separated by the same sampling interval.

6. The control method according to claim 5, characterized in that: If the trigger signal trigger time is shorter than the sampling interval time, the trigger signal trigger time is obtained based on the output position, target position and compensation time of the motor at the last time point in the preset time period, and the output position of the motor at the last time point in the preset time period is the output position of the motor at the current time.

7. The control method according to claim 1, characterized in that: In the step of processing the multiple output positions to obtain the calibrated output position of the motor at the last time point among multiple different time points, the multiple output positions are averaged to obtain the calibrated output position of the motor at the last time point among multiple time points, and the average processing adopts one of the following methods: arithmetic average method, square average method, harmonic mean method, and weighted average method.

8. The control method according to claim 7, characterized in that: When the averaging process adopts the arithmetic mean method, the specific process of processing the multiple output positions to obtain the calibrated output position of the motor at the last time point among the multiple different time points is as follows: P ave =(P n +P n-1 +P n-2 +···P n-m-1 ) / m, Among them, P n 、P n-1 、P n-2 、···、P n-m-1 Represents multiple output positions of the motor at multiple different time points, m represents the number of multiple different time points, P ave Indicates the calibrated output position of the motor at the last time point among multiple time points.

9. The control method according to claim 8, characterized in that: Among the multiple different time points, each adjacent time point is separated by the same sampling interval; The specific calculation process of the first lag time is as follows: t c =t s ×(m-1) / 2, Among them, t c represents the first lag time, t s Indicates the sampling interval.

10. The control method according to claim 9, characterized in that: In the step of obtaining the trigger signal trigger time based on the processed output position, target position and compensation time, the specific calculation process is as follows: T=(P t –P ave ) / V ave -t c =(P t –(P n +P n-1 +P n-2 +···P n-m-1 ) / m) / V ave -(t s ×(m-1) / 2), Among them, P t represents the target position, V ave Indicates the average speed of the motor.

11. The control method according to claim 10, characterized in that: The compensation time also includes: external device delay time, servo controller delay time; In the step of obtaining the trigger signal trigger time based on the processed output position, target position and compensation time, the specific calculation process is as follows: T=(P t –P ave ) / V ave -t a -t b -t c =(P t –(P n +P n-1 +P n-2 +···P n-m-1 ) / m) / V ave -t a -t b -(t s ×(m-1) / 2), where t a Indicates the servo controller delay time, t b Indicates the external device delay time.

12. A control device for a transport device that moves objects via a motor, characterized in that: The control device comprises: An output position acquisition module is used to acquire multiple output positions of the motor at multiple different time points within a preset time period; a calibration module, configured to process the plurality of output positions to obtain a calibrated output position of the motor at a last time point among a plurality of different time points; a trigger signal triggering time calculation module, configured to obtain a trigger signal triggering time based on the calibrated output position, the target position, and a compensation time, wherein the compensation time at least includes a first lag time determined by a plurality of different time points; A timing module is used to send a trigger signal based on the trigger time of the trigger signal.

13. A control device for a transport device that moves an object by a motor, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the control method according to any one of claims 1 to 11 is implemented.

14. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program for executing the control method according to any one of claims 1 to 11.

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