Motor track module for realizing straight line and bending functions

Abstract

The invention relates to a motor track module for realizing straight line and turning functions, which is provided with a driving device so as to control the output torque of a permanent magnet synchronous motor through a field orientation control algorithm when a loading vehicle moves on a straight track. When the loading vehicle moves on the curved rail, the output torque of the permanent magnet synchronous motor is dynamically adjusted by using the rail parameters of the curved rail and the characteristic information, collected in real time, of the loading vehicle and the cargos carried by the loading vehicle through a fusion algorithm of path planning and proportional-integral control, and then turning is dynamically adjusted according to the load and the rail parameters through a hybrid algorithm; according to the motor track module, energy waste can be reduced, the system operation efficiency can be improved, then the motor track module can adapt to complex operation environments, meanwhile, the problems of power mismatching and instability in the prior art can be effectively solved under different load and track conditions, and then the technical effect of improving and optimizing the turning performance of the motor track module is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor tracks, and in particular to a motor track module for realizing straight-line and bending functions. Background Art

[0002] With the rapid development of intelligent manufacturing and automation technologies, production and logistics scenarios are placing increasingly stringent demands on equipment movement, particularly in terms of multi-directional and flexible motion. As a core component, the motor track module must not only ensure linear motion stability but also smooth cornering. The current challenge lies in ensuring high precision and stability of the track module during straight-line operation while preventing significant motion errors, deceleration, or instability during cornering.

[0003] Existing motor drive systems mainly use technologies such as stepper motors, servo motors, or brushless DC motors (BLDC). These motors have high precision, efficiency, and lifespan, and can meet the requirements of linear motion. However, in the motor track module, when the consigned goods need to run on a curve, the main problems faced by the existing design are the curve design of the track, the matching of the track and the axle, and the control of friction. These factors directly affect the smoothness and accuracy of the motor track module when turning, especially when the turning radius is small or the angle is large. Traditional track systems such as straight tracks, curved tracks, and adjustable angle tracks are often unable to effectively solve this problem in design, resulting in uneven acceleration, vibration, or position deviation during the turning process, affecting the motion stability and accuracy of the entire system.

[0004] Therefore, how to further improve and optimize the turning performance of the motor track module based on the existing motor and track system design so that it can maintain high precision and high stability during the turning process and minimize friction and power loss has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The technical problem to be solved by the present invention is how to further improve and optimize the turning performance of the motor track module based on the existing motor and track system design. In order to solve this technical problem, the present invention provides a motor track module for realizing straight line and turning functions.

[0006] The present invention provides a motor track module for realizing straight line and bending functions, comprising: A splicable track, composed of a straight track and a curved track, is provided on the track with a carrier that can move along the splicable track, and the carrier is provided with a permanent magnet synchronous motor, which is used to drive the carrier; The driving device is electrically connected to the permanent magnet synchronous motor and is configured to control the output torque of the permanent magnet synchronous motor through a field-oriented control algorithm to regulate the motion trajectory of the cargo vehicle when the cargo vehicle moves on the straight track, and to dynamically adjust the motion trajectory of the cargo vehicle when the cargo vehicle moves on the curved track by using a fusion algorithm of path planning and proportional-integral control to utilize the track parameters of the curved track and the real-time collected characteristic information of the cargo vehicle and its carried cargo.

[0007] The motor track module disclosed in the present invention is used to realize straight line and bending functions. It adopts a splicable track composed of straight track and curved track. By setting a driving device, when the cargo vehicle moves on the straight track, the output torque of the permanent magnet synchronous motor is controlled by the field-oriented control algorithm. When the cargo vehicle moves on the curved track, the fusion algorithm of path planning and proportional integral control is used to dynamically adjust the output torque of the permanent magnet synchronous motor by utilizing the track parameters of the curved track and the real-time collected characteristic information of the cargo vehicle and its carried cargo. Then, through the hybrid algorithm, the turning is dynamically adjusted according to the load and track parameters, which can reduce energy waste and improve the efficiency of system operation, and thus can adapt to complex operating environments. At the same time, it can effectively avoid the power mismatch and instability problems in traditional technologies under different load and track conditions, thereby achieving the technical effect of improving and optimizing the turning performance of the motor track module.

[0008] In a possible implementation, the driving device includes: a straight track drive device, electrically connected to the permanent magnet synchronous motor, and configured to control the output torque of the permanent magnet synchronous motor to regulate the motion trajectory of the vehicle when the vehicle moves on the straight track through a field-oriented control algorithm; a curved track drive device connected to the cargo vehicle and configured to dynamically adjust the trajectory of the cargo vehicle as it moves on the curved track by utilizing a fusion algorithm of path planning and proportional-integral control to utilize track parameters of the curved track and real-time collected characteristic information of the cargo vehicle and its carried cargo; A selection device is electrically connected to the straight track drive device and the curved track drive device, and is configured to call the straight track drive device to operate when the vehicle moves on the straight track, and call the curved track drive device to operate when the vehicle moves on the curved track; This solution can select different drive devices according to different track shapes, which not only ensures energy conservation but also can further adapt to complex operating environments.

[0009] In one possible implementation, the straight rail driving device includes: a field-oriented control device, electrically connected to the permanent magnet synchronous motor and the selection device, and configured to adjust the output torque of the permanent magnet synchronous motor by executing the field-oriented control algorithm; an adjusting device electrically connected to the selecting device and configured to call the field orientation control device to operate in real time according to an ideal speed of the vehicle on the straight track set by a user when the vehicle moves on the straight track; The above scheme is adopted to enable the regulating device to call the field-oriented control device in real time, and the field-oriented control device executes the field-oriented control algorithm. The algorithm can support real-time adjustment of speed, torque, acceleration, and has fast response speed, high efficiency, and can reduce torque pulsation, noise and vibration.

[0010] In one possible implementation, the field-oriented control device includes a speed regulator, a d-axis current regulator, a q-axis current regulator, an inverse Park converter, an angle sensor, a Park converter, a drive circuit module, a three-phase current sensor, and a Clark converter; The angle sensor is provided on the permanent magnet synchronous motor to obtain the rotation angle of the output shaft of the permanent magnet synchronous motor in real time; The drive circuit module is electrically connected to the permanent magnet synchronous motor to provide a three-phase drive signal to the permanent magnet synchronous motor; The three-phase current sensor is electrically connected to the drive circuit module to obtain the three-phase current output by the drive circuit module in real time; The speed regulator is electrically connected to the selection device, the q-axis current regulator is electrically connected to the speed regulator and the Park converter, the d-axis current regulator is electrically connected to the Park converter, the inverse Park converter is electrically connected to the d-axis current regulator, the q-axis current regulator, and the angle sensor, the drive circuit module is electrically connected to the inverse Park converter, the Clark converter is electrically connected to the three-phase current sensor, and the Park converter is electrically connected to the angle sensor and the Clark converter; The field-oriented control device using the above structure can transform the three-phase current of the motor into a rotating coordinate system so that the control method of the motor is similar to that of a DC motor, thereby achieving efficient and high-performance torque and speed control, and can also support real-time adjustment of speed, torque, and acceleration. It has fast response speed, high efficiency, and can reduce torque pulsation, noise and vibration.

[0011] In one possible embodiment, the speed regulator, the d-axis current regulator, and the q-axis current regulator are all proportional-integral-differential regulators; this regulator can adjust the output according to the error function formed within the sampling period, and because the proportional gain, integral gain, and differential gain are controllable, the output quantity can be controlled.

[0012] In one possible implementation, the drive circuit module includes a pulse width modulator and a drive circuit. The pulse width modulator is electrically connected to the inverse Park converter and is used to convert the output result of the inverse Park converter into a pulse width modulated signal. The drive circuit is electrically connected to the pulse width modulator, and the permanent magnet synchronous motor is electrically connected to the drive circuit. The drive circuit is a three-phase full-bridge drive circuit composed of six full-bridge inverters; thereby, high-efficiency drive of the motor can be achieved.

[0013] In a possible implementation, the adjustment device includes: A speed sensor is provided on the cargo vehicle to obtain the speed of the cargo vehicle in real time; a display device electrically connected to the selection device and the speed sensor, and configured to allow a user to set an ideal speed and proportional gain, integral gain, and differential gain of the speed regulator, the d-axis current regulator, and the q-axis current regulator when the vehicle moves on the straight track; This solution enables users on a straight track to adjust the proportional gain, integral gain, and differential gain of the regulator, while also setting the ideal speed.

[0014] In a possible implementation, the curved track driving device includes: a high dynamic range camera, disposed on the curved track, for acquiring real-time image information of the cargo vehicle and the cargo it carries; a feature module electrically connected to the high dynamic range camera and configured to obtain feature information of the vehicle and its cargo using the image information in real time through an image processing method of an object detection network, the feature information including the actual speed and mass of the vehicle and its cargo; an ideal speed module, electrically connected to the feature module, and configured to obtain an ideal speed by using a path planning algorithm to utilize the track parameters of the curved track and the historically collected actual speed of the cargo vehicle and its carried cargo; A turning drive component, connected to the cargo vehicle, and configured to control the cargo vehicle to turn according to a driving signal; a path adjustment module, electrically connected to the ideal speed module, the selection device, and the turning drive component, configured to first generate a proportional gain, an integral gain, and a differential gain based on the track parameters of the curved track and the actual speed of the cargo vehicle and its carried cargo, and then, based on the error between the actual speed and the ideal speed, use a proportional-integral-differential adjustment algorithm to obtain the drive signal to activate the turning drive component; The above solution can keep the cargo vehicle stable when turning, and achieve the technical effect of dynamically adjusting the speed and turning drive components according to the load status.

[0015] In a possible implementation, the feature module includes: an object detection network, electrically connected to the high dynamic range camera, and configured to obtain the mass and size of the cargo vehicle and its cargo by extracting objects from images; a computing unit, electrically connected to both the target detection network and the ideal speed module, configured to obtain the mass and center of gravity of the vehicle and its cargo using the mass and size of the vehicle and its cargo, and to obtain the true speed based on a change in the obtained center of gravity; This solution sets up a target detection network to detect the shape and size of the cargo based on the cargo images taken by the camera, identify the type of cargo, frame the size, and ultimately obtain information about the length, width, and height of the cargo.

[0016] In one possible embodiment, the selection device includes a plurality of distance sensors arranged on the ports of the curved track and a central processing unit electrically connected to these distance sensors, the distance sensors are used to obtain the distance between the cargo vehicle and its location in real time, and the central processing unit is configured to determine whether the cargo vehicle enters the curved track based on the distance between the cargo vehicle and the distance sensor closest to the cargo vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a motor track module for realizing straight line and bending functions disclosed in an embodiment of the present invention; Figure 2 Schematic diagram of the structure of the straight rail driving device disclosed in an embodiment of the present invention; Figure 3 Schematic diagram of the structure of the field oriented control device disclosed in an embodiment of the present invention; Figure 4 This is an operation flow chart of the straight rail driving device disclosed in an embodiment of the present invention; Figure 5 Schematic diagram of the structure of the curved track driving device disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Those skilled in the art may adjust them as needed to suit specific application scenarios.

[0019] In the description of the embodiments of the present application, it should be noted that, unless otherwise expressly specified or limited, the terms "electrical connection" and "electrical connection relationship" should be understood in a broad sense, that is, referring to a connection method that has an electrical relationship. For example, it can be a circuit connection achieved through a conductive wire, or an electrical connection achieved through a radio signal path (channel), or a combination of the two. In addition, "electrical connection" and "electrical connection relationship" can be based on a mechanical connection (such as a conductive wire disposed within a connecting key); it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0020] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0021] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] See also Figure 1 The present application discloses a motor track module for realizing straight line and bending functions. Figure 1 This is a structural schematic diagram of the motor track module, which includes a splicable track and a drive device. The splicable track is composed of a straight track and a curved track. A cargo trolley that can move along the splicable track is provided on the cargo trolley. The cargo trolley is provided with a permanent magnet synchronous motor, which is used to drive the cargo trolley. The drive device is electrically connected to the permanent magnet synchronous motor.

[0023] See also Figure 1In this motor track module, the drive device is configured to control the output torque of the permanent magnet synchronous motor through a field-oriented control (FOC) algorithm to regulate the vehicle's trajectory when the vehicle is moving on a straight track. When the vehicle is moving on a curved track, the drive device dynamically adjusts the vehicle's trajectory by utilizing the curved track parameters and real-time collected characteristic information of the vehicle and its cargo using a fusion algorithm of path planning and proportional-integral control. In this embodiment, the drive device includes a straight track drive device, a curved track drive device, and a selection device. The selection device is electrically connected to both the straight track drive device and the curved track drive device. The straight track drive device is electrically connected to the permanent magnet synchronous motor, and the curved track drive device is connected to the vehicle.

[0024] In the drive device, the straight track drive device is configured to control the output torque of the permanent magnet synchronous motor through the field-oriented control algorithm to regulate the trajectory of the vehicle when the vehicle moves on the straight track. Figure 2 、 Figure 3 and Figure 4 In this embodiment, the straight track drive device includes a field-oriented control device and an adjustment device. The field-oriented control device is electrically connected to both the permanent magnet synchronous motor and the selection device, and the adjustment device is electrically connected to the selection device. The field-oriented control device is configured to adjust the output torque of the permanent magnet synchronous motor by executing a field-oriented control algorithm. The adjustment device is configured to invoke the field-oriented control device in real time based on a user-set ideal speed of the vehicle on the straight track when the vehicle is moving on the straight track.

[0025] See also Figure 2 and Figure 3 In this embodiment, the field-oriented control device includes a speed regulator, a d-axis current regulator, a q-axis current regulator, an inverse Park converter, an angle sensor, a Park converter, a drive circuit module, a three-phase current sensor, and a Clark converter; the angle sensor is provided on the permanent magnet synchronous motor to obtain the rotation angle of the output shaft of the permanent magnet synchronous motor in real time; the drive circuit module is electrically connected to the permanent magnet synchronous motor to provide a three-phase drive signal to the permanent magnet synchronous motor; and the three-phase current sensor is electrically connected to the drive circuit module to obtain the three-phase current output by the drive circuit module in real time.

[0026] In the field-oriented control device, the speed regulator is electrically connected to the selection device, the q-axis current regulator is electrically connected to the speed regulator and the Park converter at the same time, the d-axis current regulator is electrically connected to the Park converter, the inverse Park converter is electrically connected to the d-axis current regulator, the q-axis current regulator and the angle sensor at the same time, the drive circuit module is electrically connected to the inverse Park converter, the Clark converter is electrically connected to the three-phase current sensor, and the Park converter is electrically connected to the angle sensor and the Clark converter at the same time.

[0027] In addition, the speed regulator, d-axis current regulator, and q-axis current regulator are all proportional-integral-derivative regulators. The drive circuit module includes a pulse width modulator (SVPWM) and a drive circuit. The pulse width modulator is electrically connected to the inverse Park converter and is used to convert the output of the inverse Park converter into a pulse width modulated signal. The drive circuit is electrically connected to the pulse width modulator, and the permanent magnet synchronous motor is electrically connected to the drive circuit. The drive circuit is a three-phase full-bridge drive circuit composed of six full-bridge inverters.

[0028] Please continue to see Figure 2 In this embodiment, the adjustment device includes a speed sensor and a display device. The speed sensor is arranged on the carrier to obtain the movement speed of the carrier in real time; the display device is electrically connected to the selection device and the speed sensor at the same time. The display device is configured to allow the user to set the ideal speed and the proportional gain, integral gain and differential gain of the speed regulator, d-axis current regulator and q-axis current regulator when the carrier moves on a straight track.

[0029] Figure 4 This is the operation flow chart of the straight rail drive device. Represents the ideal speed, Represents the actual speed obtained by the speed sensor, Represents the motor rotation angle obtained by the angle sensor, represents the ideal d-axis current set initially, which is set to 0 in this embodiment; represents the ideal q-axis current output by the speed regulator, represents the d-axis voltage output by the d-axis current regulator, represents the q-axis voltage output by the q-axis current regulator, and They represent the outputs of the inverse Park converter. Shaft voltage and Shaft voltage, 、 and It represents the three-phase voltage output by the drive circuit. 、 and It is the three-phase circuit output by the drive circuit, which is collected by the three-phase current sensor; and They represent the outputs of the Clark converter. Shaft current and Shaft current, and They represent the d-axis current and q-axis current output by the Park converter respectively.

[0030] See also Figure 1 and Figure 5In the driving device, the curved track driving device is configured to dynamically adjust the motion trajectory of the carrier when the carrier moves on the curved track through a fusion algorithm of path planning and proportional integral control to utilize the track parameters of the curved track and the real-time collected characteristic information of the carrier and its carried cargo.

[0031] See also Figure 5 In this embodiment, the curved track drive device includes a high dynamic range camera, a feature module, an ideal speed module, a turning drive, and a path adjustment module. The high dynamic range camera is mounted on the curved track and is used to capture real-time image information of the vehicle and its cargo. The feature module is electrically connected to the high dynamic range camera, the ideal speed module is electrically connected to the feature module, the turning drive is connected to the vehicle, and the path adjustment module is electrically connected to the ideal speed module, the selection device, and the turning drive.

[0032] In the curved track drive device, the feature module is configured to utilize image processing methods within a target detection network in real time to obtain feature information about the vehicle and its cargo, including the actual speed and mass of the vehicle and its cargo. The ideal speed module is configured to utilize the curved track parameters and historically collected actual speeds of the vehicle and its cargo through a path planning algorithm to determine the ideal speed. The turning drive is used to manipulate the vehicle into turns based on a drive signal. The path adjustment module is configured to first generate a proportional gain, an integral gain, and a differential gain based on the curved track parameters and the actual speed of the vehicle and its cargo. Then, based on the error between the actual speed and the ideal speed, a proportional-integral-derivative (PID) adjustment algorithm is used to obtain a drive signal to activate the turning drive.

[0033] In the curved track drive device, the feature module includes an object detection network and a computing unit. The object detection network is electrically connected to the high dynamic range camera, and the computing unit is electrically connected to both the object detection network and the ideal speed module. The object detection network is configured to extract objects from the image to obtain the mass and dimensions of the vehicle and its cargo. The computing unit is configured to use the mass and dimensions of the vehicle and its cargo to obtain their mass and center of gravity, and to determine the true speed based on the change in the obtained center of gravity.

[0034] The following describes the operating principles of the curved track drive device in this embodiment in detail. To ensure the vehicle maintains stability while cornering on a curved track, parameters such as speed, steering angle, and torque must be dynamically adjusted based on the load's state (shape, size, weight, center of gravity, etc.). This involves multiple classic control and optimization algorithms, combined with machine vision technology to acquire cargo information, and advanced control algorithms for real-time adjustments.

[0035] To adjust motor parameters in real time, the curved track drive first uses a high-dynamic-range camera, an object detection network, and a computing unit to obtain information about the size, weight, and center of gravity of the cargo. In this embodiment, the object detection network uses the fifth version of the object detection network (YOLOv5 / Faster R-CNN) to detect the shape and size of the cargo. The specific process is as follows: The high-dynamic-range camera captures an image of the cargo, then the object detection network identifies the cargo type and frames its dimensions, ultimately obtaining the cargo's length, width, and height.

[0036] After obtaining the length, width, and height of the cargo, the computing unit estimates the load weight based on the material database. Here, ρ is the material density (the model identifies the material, such as wood or metal, or identifies data with density annotations). Alternatively, a trained convolutional neural network model is fed with the cargo image and outputs a weight estimate: W = f(I). Here, I is the input image, and f(I) is the convolutional neural network model.

[0037] The next step is to calculate the center of gravity of the load (i.e., the vehicle and the cargo), because the center of gravity of the cargo is crucial for stability during cornering. The calculation unit in this embodiment calculates the center of gravity using the following formula:

[0038] .

[0039] Then, the 3D center of gravity is estimated using the depth camera, and the eccentricity is calculated using the following formula: , where X base is the center of the vehicle body, and L is the width of the vehicle.

[0040] Next, we conduct a dynamic analysis: load mass and center of gravity position determine the speed (true speed), acceleration, and safety during cornering. The key involves analyzing centrifugal force and tipping moment. When cornering, the centrifugal force Fc is given by: Calculate, where: m is the load mass, v is the current speed, and R is the curvature radius of the curve.

[0041] To avoid tipping, the maximum speed must meet ,in: is the wheel-rail friction coefficient, g is the acceleration of gravity. The expression of the rollover moment is Where h is the height of the center of gravity. If M is too large, reduce the speed.

[0042] With these data, speed optimization is performed. This embodiment uses adaptive fuzzy PID control to adaptively adjust the controller parameters according to different load conditions and turning radius conditions. The specific calculation formula is as follows: , K p , K i and K d Adaptive adjustment is achieved through fuzzy control. For example, when the mass is large and the center of gravity is high, Kp is reduced to achieve smooth control. By inputting the load weight m, the height of the load center of gravity h, and the current speed v, the speed adjustment coefficient is output according to the fuzzy rules. The following is an example of a simple fuzzy rule.

[0043] factor Influence Adjustment strategy Load mass mmm large Inertia increases, adjustment slows Increase KpK_pKp to speed up response Load mass m small Small inertia, easy to overshoot Lower Kp to reduce oscillation Load center of gravity h high Easy to roll over Reduce Kp, Kd for smooth control Track curvature R is small Sharp turns, prone to tipping Lower Kp and reduce impact Slope θ is large Load affected by gravity Increase Ki to compensate for steady-state error For path optimization, this embodiment uses a path planning algorithm (MPC) model predictive control to optimize the turning speed. , state variables , optimization variables (acceleration, steering angle). Constraints ,a max Affected by the load, the speed curve is optimized through predictive control to avoid rollover and improve the energy utilization efficiency of the motor.

[0044] In the drive device, a selection device is configured to activate the straight track drive device when the vehicle is moving on a straight track, and to activate the curved track drive device when the vehicle is moving on a curved track. In this embodiment, the selection device includes a plurality of distance sensors disposed at the ends of the curved track and a central processing unit electrically connected to these distance sensors. The distance sensors are used to obtain the distance between the vehicle and its location in real time. The central processing unit is configured to determine whether the vehicle has entered the curved track based on the distance between the vehicle and the distance sensor closest to the vehicle.

[0045] The motor track module disclosed in this embodiment for realizing straight line and bending functions adopts a splicable track composed of straight track and curved track. By setting a driving device, when the cargo vehicle moves on the straight track, the output torque of the permanent magnet synchronous motor is controlled by the field-oriented control algorithm. When the cargo vehicle moves on the curved track, the fusion algorithm of path planning and proportional integral control is used to dynamically adjust the output torque of the permanent magnet synchronous motor by utilizing the track parameters of the curved track and the real-time collected characteristic information of the cargo vehicle and its carried cargo. Then, through the hybrid algorithm, the turning is dynamically adjusted according to the load and track parameters, which can reduce energy waste and improve the efficiency of system operation, and thus can adapt to complex operating environments. At the same time, it can effectively avoid the power mismatch and instability problems in traditional technologies under different load and track conditions, thereby achieving the technical effect of improving and optimizing the turning performance of the motor track module.

[0046] In the description of the embodiments of the present application, it should be noted that in the description of the present application, terms such as "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present application.

[0047] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "in the present embodiment", "specific example", or "some examples" means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0048] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A motor track module for realizing straight line and bending functions, characterized in that: include: A splicable track, composed of a straight track and a curved track, is provided on the track with a carrier that can move along the splicable track, and the carrier is provided with a permanent magnet synchronous motor, which is used to drive the carrier; The driving device is electrically connected to the permanent magnet synchronous motor and is configured to control the output torque of the permanent magnet synchronous motor through a field-oriented control algorithm to regulate the motion trajectory of the cargo vehicle when the cargo vehicle moves on the straight track, and to dynamically adjust the motion trajectory of the cargo vehicle when the cargo vehicle moves on the curved track by using a fusion algorithm of path planning and proportional-integral control to utilize the track parameters of the curved track and the real-time collected characteristic information of the cargo vehicle and its carried cargo.

2. The motor track module for realizing straight line and bending functions according to claim 1, characterized in that: The driving device comprises: a straight track drive device, electrically connected to the permanent magnet synchronous motor, and configured to control the output torque of the permanent magnet synchronous motor to regulate the motion trajectory of the vehicle when the vehicle moves on the straight track through a field-oriented control algorithm; a curved track drive device connected to the cargo vehicle and configured to dynamically adjust the trajectory of the cargo vehicle as it moves on the curved track by utilizing a fusion algorithm of path planning and proportional-integral control to utilize track parameters of the curved track and real-time collected characteristic information of the cargo vehicle and its carried cargo; The selection device is electrically connected to the straight track drive device and the curved track drive device at the same time, and is configured to call the straight track drive device to operate when the cargo vehicle moves on the straight track, and to call the curved track drive device to operate when the cargo vehicle moves on the curved track.

3. The motor track module for realizing straight line and bending functions according to claim 2, characterized in that: The straight rail driving device comprises: a field-oriented control device, electrically connected to the permanent magnet synchronous motor and the selection device, and configured to adjust the output torque of the permanent magnet synchronous motor by executing the field-oriented control algorithm; The regulating device is electrically connected to the selecting device and is configured to call the field oriented control device to operate in real time according to the ideal speed of the vehicle on the straight track set by the user when the vehicle moves on the straight track.

4. The motor track module for realizing straight line and bending functions according to claim 3, characterized in that: The field-oriented control device includes a speed regulator, a d-axis current regulator, a q-axis current regulator, an inverse Park converter, an angle sensor, a Park converter, a drive circuit module, a three-phase current sensor, and a Clark converter; The angle sensor is provided on the permanent magnet synchronous motor to obtain the rotation angle of the output shaft of the permanent magnet synchronous motor in real time; The drive circuit module is electrically connected to the permanent magnet synchronous motor to provide a three-phase drive signal to the permanent magnet synchronous motor; The three-phase current sensor is electrically connected to the drive circuit module to obtain the three-phase current output by the drive circuit module in real time; The speed regulator is electrically connected to the selection device, the q-axis current regulator is electrically connected to the speed regulator and the Park converter at the same time, the d-axis current regulator is electrically connected to the Park converter, the inverse Park converter is electrically connected to the d-axis current regulator, the q-axis current regulator and the angle sensor at the same time, the drive circuit module is electrically connected to the inverse Park converter, the Clark converter is electrically connected to the three-phase current sensor, and the Park converter is electrically connected to the angle sensor and the Clark converter at the same time.

5. The motor track module for realizing straight line and bending functions according to claim 4, characterized in that: The speed regulator, the d-axis current regulator, and the q-axis current regulator are all proportional-integral-differential regulators.

6. The motor track module for realizing straight line and bending functions according to claim 5, characterized in that: The drive circuit module includes a pulse width modulator and a drive circuit. The pulse width modulator is electrically connected to the inverse Park converter and is used to convert the output result of the inverse Park converter into a pulse width modulation signal. The drive circuit is electrically connected to the pulse width modulator, and the permanent magnet synchronous motor is electrically connected to the drive circuit. The drive circuit is a three-phase full-bridge drive circuit composed of six full-bridge inverters.

7. The motor track module for realizing straight line and bending functions according to claim 5, characterized in that: The regulating device comprises: A speed sensor is provided on the cargo vehicle to obtain the speed of the cargo vehicle in real time; The display device is electrically connected to the selection device and the speed sensor, and is configured to allow the user to set the ideal speed and the proportional gain, integral gain and differential gain of the speed regulator, the d-axis current regulator and the q-axis current regulator when the cargo vehicle moves on the straight track.

8. The motor track module for realizing straight line and bending functions according to claim 6 or 7, characterized in that: The curved track driving device comprises: a high dynamic range camera, disposed on the curved track, for acquiring real-time image information of the cargo vehicle and the cargo it carries; a feature module electrically connected to the high dynamic range camera and configured to obtain feature information of the vehicle and its cargo using the image information in real time through an image processing method of an object detection network, the feature information including the actual speed and mass of the vehicle and its cargo; an ideal speed module, electrically connected to the feature module, and configured to obtain an ideal speed by using a path planning algorithm to utilize the track parameters of the curved track and the historically collected actual speed of the cargo vehicle and its carried cargo; A turning drive component, connected to the cargo-carrying vehicle, and configured to control the cargo-carrying vehicle to turn according to a driving signal; The path adjustment module is electrically connected to the ideal speed module, the selection device and the turning drive component, and is configured to first generate a proportional gain, an integral gain and a differential gain based on the track parameters of the curved track and the actual speed of the cargo vehicle and its cargo, and then use a proportional-integral-differential adjustment algorithm to obtain the drive signal based on the error between the actual speed and the ideal speed to call the turning drive component to operate.

9. The motor track module for realizing straight line and bending functions according to claim 8, characterized in that: The feature module includes: an object detection network, electrically connected to the high dynamic range camera, and configured to obtain the mass and size of the cargo vehicle and its cargo by extracting objects from images; A computing unit is electrically connected to the target detection network and the ideal speed module, and is configured to obtain the mass and center of gravity of the vehicle and its cargo using the mass and size of the vehicle and its cargo, and obtain the true speed based on the change of the obtained center of gravity.

10. The motor track module for realizing straight line and bending functions according to claim 8, characterized in that: The selection device includes several distance sensors arranged on the ports of the curved track and a central processing unit electrically connected to these distance sensors. The distance sensors are used to obtain the distance between the cargo vehicle and its location in real time. The central processing unit is configured to determine whether the cargo vehicle has entered the curved track based on the distance between the cargo vehicle and the distance sensor closest to the cargo vehicle.

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