Motion control system and method

Abstract

The application provides a motion control system and method, wherein the motion control system comprises a control platform and at least one mobile device, the control platform and each mobile device are in communication through at least two communication links; the control platform is configured to generate an emergency stop instruction in the case of detecting that a safety event is triggered, transmit the emergency stop instruction to the mobile device through a first communication link, and the first communication link is a communication link of a preset safety communication protocol among the at least two communication links; the mobile device is configured to receive the emergency stop instruction through the first communication link, parse the emergency stop instruction by using the preset safety communication protocol, and execute a shutdown operation based on the parsing result. By setting at least two communication links between the control platform and the mobile device, and transmitting the emergency stop instruction through the first communication link conforming to the preset safety communication protocol, the occurrence probability of transmission failure of the emergency stop instruction when the emergency stop instruction is transmitted to the mobile device is reduced, and the safety of the emergency stop instruction transmission is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile device control, in particular to a motion control system. The present application also relates to a motion control method. BACKGROUND

[0002] With the development of mobile device technology, more and more mobile devices are widely used in freight transportation, warehousing, logistics, catering and other industries, which greatly facilitates human production and life.

[0003] In the working scene of the mobile device, when the mobile device is controlled, the corresponding control signal is transmitted to the mobile device to make the mobile device move according to the control signal. However, when the channel of the control signal transmission fails or there is a security risk (the control signal has the risk of being tampered with), the mobile device cannot be managed by transmitting the control signal, which may cause the risk of robot out of control. Therefore, a safe motion control method is urgently needed. SUMMARY

[0004] Therefore, the embodiments of the present application provide a motion control system to solve the technical defects in the prior art. The embodiments of the present application also provide a motion control method.

[0005] According to a first aspect of the embodiments of the present application, a motion control system is provided, which comprises a control platform and at least one mobile device, wherein the control platform and each mobile device are in communication through at least two communication links;

[0006] The control platform is configured to generate an emergency stop instruction when a safety event is detected, and transmit the emergency stop instruction to the mobile device through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol among the at least two communication links;

[0007] The mobile device is configured to receive the emergency stop instruction through the first communication link, analyze the emergency stop instruction using the preset safety communication protocol, and execute a shutdown operation based on the analysis result.

[0008] According to a second aspect of the embodiments of the present application, a motion control method is provided, which is applied to a motion control system, the motion control system comprising a control platform and at least one mobile device, wherein the control platform and each mobile device are in communication through at least two communication links; the motion control method comprises:

[0009] The control platform generates an emergency stop instruction in a case where a safety event is detected to be triggered, and transmits the emergency stop instruction to the mobile device through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol among at least two communication links between the control platform and the mobile device.

[0010] The mobile device receives the emergency stop instruction through the first communication link, parses the emergency stop instruction by using the preset safety communication protocol, and performs a shutdown operation based on a parsing result.

[0011] According to a third aspect of an embodiment of the present application, a motion control method is provided, and is applied to a control platform, and the motion control method comprises the following steps.

[0012] An emergency stop instruction is generated in a case where a safety event is detected to be triggered.

[0013] The emergency stop instruction is transmitted to a mobile device through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol among at least two communication links between the control platform and the mobile device.

[0014] According to a fourth aspect of an embodiment of the present application, a motion control method is provided, and is applied to a mobile device, and the motion control method comprises the following steps.

[0015] An emergency stop instruction transmitted by a control platform is received through a first communication link, wherein the first communication link is a communication link of a preset safety communication protocol among at least two communication links between the control platform and the mobile device, and the emergency stop instruction conforms to the preset safety communication protocol.

[0016] The emergency stop instruction is parsed by using the preset safety communication protocol, and a shutdown operation is performed based on a parsing result.

[0017] The motion control system provided by the application comprises a control platform and at least one mobile device, the control platform and each mobile device are in communication through at least two communication links; the control platform is configured to generate an emergency stop instruction in the case that a safety event is detected to be triggered, transmit the emergency stop instruction to the mobile device through a first communication link, and the first communication link is a communication link of a preset safety communication protocol among the at least two communication links; the mobile device is configured to receive the emergency stop instruction through the first communication link, parse the emergency stop instruction by using the preset safety communication protocol, and execute a shutdown operation based on the parsing result. By setting at least two communication links between the control platform and the mobile device, in the case that the control platform detects that a safety event is triggered, an emergency stop instruction conforming to a preset safety communication protocol is generated, so that the emergency stop instruction can be transmitted through the first communication link of the preset safety communication protocol and transmitted to the mobile device. After the mobile device receives the emergency stop instruction transmitted by the first communication link, the emergency stop instruction is parsed, and a shutdown operation is executed based on the parsing result, that is, the first communication link is set for the emergency stop instruction, and the emergency stop instruction is transmitted through a different communication link from other communication signals, and the transmission of the emergency stop instruction is protected by the preset safety communication protocol, so that the probability of transmission failure or error of the emergency stop instruction when the emergency stop instruction is transmitted to the mobile device is reduced, and the safety of the transmission of the emergency stop instruction is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic diagram of a motion control system provided by an embodiment of the application;

[0019] Figure 2 is an interactive flowchart under the architecture of a motion control system provided by an embodiment of the application;

[0020] Figure 3 is an actuator interactive flowchart under the architecture of a motion control system provided by an embodiment of the application;

[0021] Figure 4 is another actuator interactive flowchart under the architecture of a motion control system provided by an embodiment of the application;

[0022] Figure 5a is a data flow diagram of a motion control system provided by an embodiment of the application;

[0023] Figure 5b is another data flow diagram of a motion control system provided by an embodiment of the application;

[0024] Figure 6 is an interactive flowchart of a motion control method provided by an embodiment of the application;

[0025] Figure 7is a flow chart of a motion control method applied to a control platform according to an embodiment of the present application;

[0026] Figure 8 is a flow chart of a motion control method applied to a mobile device according to an embodiment of the present application;

[0027] Figure 9 is a structural block diagram of a control platform according to an embodiment of the present application;

[0028] Figure 10 is a structural block diagram of a mobile device according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details set forth in this description. In other instances, well-known methods have not been described in detail in order not to unnecessarily obscure aspects of the present application.

[0030] The terminology used in this description of one or more embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of one or more embodiments of the application. As used in this description and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0031] It will be understood that, although the terms first, second, etc. can be used herein to describe various information, these terms are not intended to denote a temporal or chronological order. Rather, these terms are used only as a shorthand notation to first, second, etc. pieces of information as they are presented or discussed. For example, a first item discussed in the specification can be later discussed again in a subsequent example for the purposes of clarity and a similar item of information can be later referred to by the term second item even though it is not a second or subsequent item in time. In general, the terms used in the following description are merely used to describe particular embodiments and are not intended to limit the scope of one or more embodiments of the application.

[0032] First, the nomenclature used in the one or more embodiments of the present application is explained.

[0033] ISO 3691-4: the only international standard for industrial unmanned vehicles at present.

[0034] Three stop categories: stop category 0 is to achieve stop by immediately cutting off the power supply of the machine device, that is, stop without control; stop category 1 is controlled stop, the power supply of the machine device actuator is always kept on to make the machine device gradually stop. The power supply is cut off only when the machine device is completely stopped; stop category 2 is controlled stop, the power supply of the machine device driving device is always kept on.

[0035] Network segment refers to a part of a computer network that uses the same physical layer device to communicate directly.

[0036] Pass-through refers to the transmission of content from the source address to the destination address without any changes to the business data content.

[0037] System software refers to the system that controls and coordinates the computer and external devices, supports the development and operation of application software, and is a collection of various programs that do not require user intervention. Its main functions are scheduling, monitoring, and maintaining the computer system.

[0038] AGV (Automated Guided Vehicle) is a vehicle that can automatically navigate without human intervention. It is equipped with an automatic guidance system that can ensure the system can automatically travel along a predetermined route without the need for human guidance, and can automatically transport goods or materials from the starting point to the destination.

[0039] WIFI (Wireless Fidelity) is a wireless fidelity that represents the wireless fidelity. It usually appears in the form of an abbreviation.

[0040] Grating is an optical device composed of a large number of parallel slits with equal width and equal spacing.

[0041] IP (Internet Protocol Address) address is a unified address format provided by the IP protocol. The IP protocol is designed for computers to connect and communicate with each other.

[0042] CIP Safety protocol is an extension of the CIP (Common Industrial Protocol) standard function, which can be used for functional safety applications. It extends the model by adding a CIP safety application layer function to ensure that the safety system responds correctly within a known time or selects a predetermined safety state when normal communication or errors occur.

[0043] Profisafe protocol is a fault safety protocol that combines standard fieldbus technology and fault safety technology into one system, i.e. fault safety communication and standard communication coexist on the same cable, and safety communication is not realized through redundant cables.

[0044] PCIE (Peripheral Component Interface Extend) bus: a tree-shaped interface bus, which mainly provides a bus interface for the central processing unit (CPU) to access peripheral devices.

[0045] EtherNet / IP: a modern standard protocol, which is used for data encapsulation of CIP protocol in Ethernet.

[0046] CAN (Controller Area Network): a serial communication protocol bus for real-time applications, which is one of the most widely used field buses in the world.

[0047] In the existing application scenario of AGV, the AGV scheduling instruction and the system emergency stop instruction are transmitted through the same wireless link before the system end and multiple AGVs in the site. Under this communication architecture, the AGV scheduling instruction and the system emergency stop instruction interact through the data link layer, and lack the protection of additional safety measures, that is, the system emergency stop instruction has the same error probability as the AGV scheduling instruction, which brings the problem that the system emergency stop function cannot be reliably implemented, and cannot meet the requirements of relevant safety standards for the safety level required for emergency stop.

[0048] Further, multiple AGVs run at high speed under system scheduling, when an abnormal situation occurs, the server end receives a request, and issues a system emergency stop instruction through software control, and transmits the system emergency stop instruction to each AGV in the site in a wireless manner, and the AGV receiving the instruction stops immediately. This transmission mode of the emergency stop instruction makes the emergency stop instruction lack the protection of the safety communication layer, and there is a possibility that the instruction is tampered with or damaged, which causes the AGV to not receive the correct emergency stop instruction, and causes the AGV to fail to stop in time, resulting in risks.

[0049] To solve the above technical problems, the motion control system provided by the application comprises: a control platform and at least one mobile device, the control platform and each mobile device are in communication through at least two communication links; the control platform is configured to generate an emergency stop instruction in the case of detecting that a safety event is triggered, transmit the emergency stop instruction to the mobile device through a first communication link, and the first communication link is a communication link of a preset safety communication protocol in the at least two communication links; the mobile device is configured to receive the emergency stop instruction through the first communication link, parse the emergency stop instruction by using the preset safety communication protocol, and execute a shutdown operation based on the parsing result. By setting at least two communication links between the control platform and the mobile device, in the case of detecting that a safety event is triggered by the control platform, an emergency stop instruction conforming to a preset safety communication protocol is generated, so that the emergency stop instruction can be transmitted through the first communication link of the preset safety communication protocol and transmitted to the mobile device. After the mobile device receives the emergency stop instruction transmitted by the first communication link, the emergency stop instruction is parsed, and a shutdown operation is executed based on the parsing result, that is, the first communication link of the emergency stop instruction is set, and other communication signals are transmitted through different communication links. The transmission of the emergency stop instruction is protected by the preset safety communication protocol, the probability of transmission failure or error of the emergency stop instruction when transmitted to the mobile device is reduced, and the safety of the transmission of the emergency stop instruction is improved. Further, the safety transmission method of the emergency stop instruction provided by the application can meet the relevant safety standards and be within the acceptable range, that is, the first communication link for transmitting the emergency stop instruction can meet the safety level requirements of the ISO 3691-4 standard in the field of unmanned industrial vehicles.

[0050] In the application, a motion control system is provided. The application also relates to a motion control method, which is described in detail in the following embodiments.

[0051] Referring to Figure 1 , Figure 1 Fig. 1 shows a structure schematic diagram of a motion control system provided by an embodiment of the application, the motion control system comprises a control platform 102 and at least one mobile device 104. Taking one mobile device 104 as an example, the control platform 102 and the mobile device 104 are in communication through at least two communication links, a first communication link 103, and the details are as follows:

[0052] The control platform 102 is configured to generate an emergency stop instruction in the case of detecting that a safety event is triggered, transmit the emergency stop instruction to the mobile device 104 through the first communication link 103, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link 103 is a communication link of the preset safety communication protocol in the at least two communication links;

[0053] The mobile device 104 is configured to receive the emergency stop instruction through the first communication link 103, parse the emergency stop instruction using the preset safety communication protocol, and perform a shutdown operation based on the parsing result.

[0054] Specifically, the control platform refers to a platform for controlling multiple mobile devices. For example, in a warehouse management scenario, there is an AGV working area, which can have multiple AGVs. A control platform is set outside the AGV working area to monitor and control the AGVs. The control platform can be composed of at least one physical hardware, and its control includes but is not limited to controlling movement, controlling carrying, controlling deceleration, controlling shutdown, etc. By controlling the mobile device, the scheduling and stopping of the mobile device can be achieved. For example, the control platform can include a server that generates scheduling instructions (the scheduling instructions are specifically generated by software on the server), and can also include a safety controller that generates emergency stop instructions (the emergency stop instructions are specifically generated by the safety controller in response to the triggering of safety events). Correspondingly, the mobile device refers to a device that can move or stop autonomously according to the instructions of the control platform, such as a robot, an AGV, etc. The autonomous mobile device processes the instructions of the control platform to achieve the control of the robot device by the control platform.

[0055] Correspondingly, the safety event refers to a condition required for safe operation of the device, such as the triggering of a safety event, which can be pressing an emergency stop button in the mobile device area, detecting that a grating is blocked, or opening a safety door lock, etc. When these events are triggered, the mobile devices in the corresponding working area need to make corresponding processing, i.e. emergency stop operation. When the safety event is detected to be triggered, the control platform will generate an emergency stop instruction and transmit it to the mobile device, which will perform corresponding emergency stop processing. That is, through the detection of whether the safety event is triggered, corresponding processing can be made quickly in the case of triggering of the safety event to prevent the generation of a processing flow corresponding to the safety event. The emergency stop instruction refers to an instruction containing information for instructing the mobile device to perform emergency stop. Through the emergency stop instruction, the mobile device can perform emergency stop operation in any state until it stops.

[0056] Further, the communication link refers to a signal transmission channel between two nodes, and the communication link can be a wireless communication link or a wired communication link. In the motion control system, there are at least two communication links between the control platform and the mobile device, wherein the first communication link is a link of the preset safety communication protocol, and the first communication link is protected by the preset safety communication protocol, so that the emergency stop instruction conforming to the preset safety communication protocol can be protected when being transmitted through the first communication link, and other instructions are transmitted through different communication links, for example, the scheduling instruction can be transmitted through a second communication link different from the first communication link. The preset safety communication protocol refers to a safety communication protocol preset for protecting the first communication link. By adding the preset safety communication protocol in the first communication link, when the emergency stop instruction is transmitted from the control platform to the mobile platform, the first communication link is used at the same time, and further protection is achieved, avoiding the problem that when the same communication link is shared with other instructions, the emergency stop instruction cannot be transmitted due to the condition of other instructions.

[0057] Optionally, the preset safety communication protocol is usually a CIP safety protocol or a Profisafe protocol or other safety communication protocol.

[0058] Based on this, when the control platform detects that a safety event is triggered, an emergency stop instruction conforming to the preset safety communication protocol is quickly generated, so that the emergency stop instruction can pass through the first communication link of the preset safety communication protocol, and then the control platform transmits the emergency stop instruction to the mobile device through the first communication link; the mobile device receives the emergency stop instruction through the first communication link, and since the emergency stop instruction is generated to conform to the preset safety communication protocol, when the mobile device needs to perform corresponding processing according to the instruction, the instruction is parsed in advance to obtain a parsing result, and then a corresponding shutdown operation is performed based on the parsing result. The shutdown operation can be to make the mobile device perform a deceleration stop operation, or to make the mobile device perform a shutdown operation.

[0059] Referring to Figure 2 , Figure 2 An interaction flowchart under a motion control system architecture according to an embodiment of the application is shown.

[0060] In an optional embodiment of the application, the control platform comprises a safety trigger mechanism 202 and a first safety control mechanism 204;

[0061] The safety trigger mechanism 202 is configured to generate a safety event trigger signal to the first safety control mechanism 204 when an event conforming to a safety trigger condition is identified;

[0062] The first safety control mechanism 204 is configured to receive the safety event trigger signal sent by the safety trigger mechanism 202, encode the safety event trigger signal by using the preset safety communication protocol to obtain an emergency stop instruction, and transmit the emergency stop instruction to the mobile device through a first communication link.

[0063] Specifically, the safety trigger mechanism 202 refers to a mechanism for triggering a safety event, such as triggering an emergency stop button, opening a safety door, and the like. The safety trigger mechanism 202 can be an emergency stop button, a safety door, a grating, and the like. The safety event is triggered by the safety trigger mechanism 202, and subsequent processing is performed according to the safety event control platform and the mobile device.

[0064] Optionally, before the safety event is triggered by the safety trigger mechanism 202, the safety trigger mechanism 202 can continuously and stably output a signal, and the output signal disappears or mutates when triggered. The safety trigger mechanism 202 can also not output a signal, and suddenly generate an output signal when triggered.

[0065] Optionally, the triggering of the safety trigger mechanism 202 can be in multiple ways. In one possible implementation, the safety trigger mechanism 202 is an emergency stop button, and the emergency stop button uses a double-loop pulse, that is, two power supplies provide input and output for the emergency stop button. Specifically, before an operator presses the emergency stop button, the emergency stop button is powered by loop 1 to provide a low pulse and outputs a low level. When the emergency stop button is pressed, loop 2 provides current for the emergency stop button to provide a high pulse and outputs a high level. In another possible implementation, the safety trigger mechanism 202 can be a safety door or a grating, and both the safety door and the grating use an output signal switching device (OSSD, Output Signal Switch Device) signal. Before the safety door is opened or the grating is blocked, the output signal switching device is in a closed state, that is, the safety door and the grating do not output a signal. After the safety door is opened or the grating is blocked, the output signal mutates to a high level or a low level signal.

[0066] Specifically, the first safety control mechanism 204 refers to a main control mechanism in the control of the mobile device by the control platform, which is used to control the movement and stop of the mobile device. When a fault or a mutation signal occurs in the first safety control mechanism 204 or a device connected thereto, the first safety control mechanism 204 responds in time, such as generating an emergency stop instruction when detecting that the safety trigger mechanism 202 is triggered to generate a safety event, and transmitting the emergency stop instruction to the mobile device to avoid being unable to handle in time when a fault or a mutation occurs in the device. For details, see Figure 2The safety event trigger signal refers to a signal generated when the safety trigger mechanism 202 is triggered, which can be, for example, that an emergency stop button is pressed, a grating is blocked, a safety door is opened and activated, and the like.

[0067] Encoding the safety event trigger signal using a preset safety communication protocol can be that the first safety control mechanism 204 is logically programmed to encode the safety event trigger signal to obtain an emergency stop command conforming to the CIP safety protocol safety format.

[0068] Optionally, referring to Figure 2 The first safety control mechanism 204 can include a first safety input / output interface, a first safety processor, and a safety network module, wherein the first safety input / output interface is configured to receive a safety event trigger signal generated by the safety trigger mechanism 202 and provide the received safety event trigger signal to the first safety processor for processing; wherein the first safety processor, through logical programming response, encodes the safety event trigger signal into an emergency stop command conforming to the CIP safety protocol safety format using a preset safety communication protocol, and before encoding the safety event trigger signal, the signal needs to be checked, such as redundancy detection, repeated or incorrect trigger signals are deleted or extracted, data integrity check, display of the received trigger signal, the emergency stop button is only pressed halfway, the event of pressing is checked to determine whether the safety event is truly triggered, timeout detection, whether the transmission time of the safety event trigger signal from the safety trigger mechanism 202 to the first control execution mechanism is timeout, which can be a preset time threshold of 0.01 seconds, the detected time is compared with the preset time threshold to determine whether it is timeout, connection authorization detection, which can be detecting whether the mobile device to be controlled is connected to the control platform, if the detection result is authorized, the subsequent processing is continued; wherein the safety network module sends the corresponding command, i.e. the emergency stop command or the reset command, through the network port.

[0069] By applying the scheme of the embodiment of the application, the control platform includes the safety trigger mechanism 202 and the first safety control mechanism 204, whether the safety event is triggered by the safety trigger mechanism 202, in the case of triggering, the generated safety event is encoded by the first safety control mechanism 204 to generate an emergency stop command, so that when the safety event is triggered at the control platform end, the control platform will directly process the safety event trigger signal corresponding to the safety event, and the mobile device can directly process the command according to this, which improves the response efficiency of the safety event being triggered and further improves the transmission efficiency of the emergency stop command.

[0070] In an optional embodiment of the application, the control platform includes a wireless transmitter 206;

[0071] The wireless transmitter 206 is configured to forward the emergency stop instruction to a destination port, and convert the emergency stop instruction into a wireless signal through the destination port and transmit the wireless signal to the mobile device, wherein the destination port is a port through which the control platform and the mobile device transmit data through the first communication link.

[0072] Specifically, the wireless transmitter 206 is used for transmitting a wireless signal, i.e., converting the received emergency stop instruction into a wireless signal and then transmitting the wireless signal. Figure 2 The wireless transmitter 206 can include a switch, a wireless controller and a wireless access point, wherein the switch is used for receiving the emergency stop instruction and forwarding the emergency stop instruction to the wireless controller and the wireless access point, the wireless controller and the wireless access point process the emergency stop instruction to obtain the emergency stop instruction in the form of a wireless signal, and transmit the wireless signal to the mobile device through the first communication link. The destination port is a port through which the control platform and the mobile device transmit data through the first communication link.

[0073] By using the wireless transmitter to convert the emergency stop instruction into a wireless signal that can be transmitted by the wireless transmitter, the emergency stop instruction can be transmitted from the control platform to the mobile device through the first communication link in a wireless manner, the transmission efficiency is improved through the wireless transmission manner, and the transmission of the emergency stop instruction is guaranteed through the first communication link, and the safety of the transmission of the emergency stop instruction is further improved.

[0074] In an optional embodiment of the present application, the control platform further comprises a network address translation device.

[0075] The wireless transmitter is further configured to transmit the emergency stop instruction to the network address translation device.

[0076] The network address translation device is configured to perform address translation on the emergency stop instruction, and forward the address-converted emergency stop instruction to the destination port, and transmit the address-converted emergency stop instruction to the mobile device in the form of a wireless signal through the destination port.

[0077] Specifically, the network address translation (NAT, Network Address Translation) device is a virtual network address translator, which performs internal address translation for cross-network segment communication, i.e., converts the network address of the data transmitted by the wireless transmitter into a target network address, and the target network address conforms to the network address corresponding to the mobile device, and obtains data conforming to the target network address of the mobile device.

[0078] Exemplarily, in the scenario of cross-network segment, the control platform comprises a wireless transmitter and a network address translation device, the control platform performs wireless signal transmission with the mobile device, wherein the mobile device and the wireless transmitter belong to different network segments, the IP address of the wireless transmitter belongs to a first network segment, and the IP address of the mobile device belongs to a second network segment, and the network address translation device is required to convert the signal transmitted by the wireless transmitter from the IP address of the first network segment to the corresponding IP address of the second network segment, so as to complete the conversion and transmission of the signal across the network segments, and enable the control platform and the mobile device belonging to different network segments to realize signal transmission through the network address translation device.

[0079] By applying the scheme of the embodiment of the application, the control platform further comprises a network address translation device, so that when the control platform and the mobile device belong to different network segments, the network address translation device can be used to realize signal transmission between the two ends, so as to facilitate subsequent processing of the mobile device based on the received instruction.

[0080] In an optional embodiment of the application, the mobile device comprises a wireless receiver.

[0081] The wireless receiver is configured to receive the wireless signal through the first communication link and forward the wireless signal as an emergency stop instruction in the format of an Ethernet port.

[0082] Specifically, referring to Figure 2 The wireless receiver 208 is used to receive the wireless signal and convert the received wireless signal into an emergency stop instruction in the format of an Ethernet port. The wireless receiver 208 can comprise a wireless receiving module, a wireless receiving processor and a forwarding module. The wireless receiving module is used to receive the wireless signal transmitted from the wireless transmitter 206 of the control platform and forward the wireless signal to the wireless receiving processor. The wireless receiving processor is used to transmit the received wireless signal to the forwarding module for processing. The forwarding module is used to convert the received wireless signal into an emergency stop instruction in the format of an Ethernet port and output the emergency stop instruction.

[0083] By applying the scheme of the embodiment of the application, the wireless receiver of the mobile device converts the received wireless signal into an emergency stop instruction in the format of an Ethernet port and forwards the emergency stop instruction, that is, the mobile device converts the received wireless signal into a signal in a format that can be recognized by the mobile device when the signal is executed, so as to facilitate subsequent execution of the stop operation based on the emergency stop instruction in the format of an Ethernet port.

[0084] In an optional embodiment of the application, the mobile device comprises a second safety control mechanism 210 and an execution mechanism 212.

[0085] The second safety control mechanism 210 is configured to parse the emergency stop instruction by using the preset safety communication protocol to obtain a parsing result, and transmit the parsing result to the execution mechanism 212.

[0086] The execution mechanism 212 is configured to perform a shutdown operation based on the parsing result.

[0087] Specifically, the second safety control mechanism 210 refers to a mechanism for controlling and executing a mobile device based on a control platform instruction in the mobile device. Specifically, the second safety control mechanism 210 is configured to parse an instruction received from the control platform by using a preset safety communication protocol, and output a result obtained by the parsing. For example, when an emergency stop instruction based on the control platform is processed, the second safety control mechanism 210 is configured to parse the emergency stop instruction to obtain a parsing result, so that the mobile device can perform a shutdown operation based on the parsing result. The execution mechanism 212 refers to a mechanism for executing a mobile device according to an instruction in the mobile device. For example, when an emergency stop instruction is received, the execution mechanism 212 is configured to perform a shutdown operation or a deceleration stop operation based on the emergency stop instruction. When a scheduling instruction is received, the execution mechanism 212 is configured to perform a corresponding operation based on the scheduling instruction.

[0088] Optionally, referring to Figure 2 The second safety control mechanism 210 can include a network communication stack, a second processor, a safety protocol stack, and a second safety input / output interface. The network communication stack is an Ethernet / IP communication stack module configured to receive a control instruction, filter and identify the received control instruction, identify that the control instruction is a safety instruction received from the first communication link, and consider the control instruction as an emergency stop instruction. The emergency stop instruction is forwarded to the safety protocol stack. The safety protocol stack is configured to parse the emergency stop instruction that conforms to the preset safety communication protocol by using the preset safety communication protocol to obtain a parsing result, and then output the parsing result in the form of an input / output quantity by using the second safety input / output interface. The second processor is configured to configure initialization information of the network communication stack, collect state information and fault information of internal modules included in the second safety control mechanism 210, and output initial state information and fault information of each module in the second safety control mechanism 210.

[0089] According to the scheme of the embodiment of the application, the mobile device includes the second safety control mechanism 210 and the execution mechanism 212. When the second safety control mechanism 210 receives an emergency stop instruction, the second safety control mechanism 210 processes the emergency stop instruction, determines that the emergency stop instruction is a safety instruction, and forwards the safety instruction to the execution mechanism 212. The execution mechanism 212 performs a corresponding processing according to the emergency stop instruction, thereby further determining and executing the emergency stop instruction, and improving the accuracy of transmission of the emergency stop instruction.

[0090] In an alternative embodiment of the application, the actuator 212 comprises a delay component, a movement controller, a safety driver, a motor and a speed encoder.

[0091] The movement controller is configured to obtain a current movement speed of the mobile device in response to the analysis result of the emergency stop instruction, predict motor deceleration information according to the current movement speed, and send the motor deceleration information to the safety driver.

[0092] The safety driver is configured to drive the motor to decelerate according to the motor deceleration information.

[0093] The delay component is configured to send a power-off instruction to the safety driver if a preset delay time is reached in response to the analysis result of the emergency stop instruction.

[0094] The safety driver is further configured to drive the motor to power off and brake according to the power-off instruction.

[0095] The speed encoder is configured to obtain a current rotation speed of the motor and feed back the current rotation speed to the movement controller.

[0096] The movement controller is further configured to generate an alarm information if the current rotation speed does not match a preset rotation speed.

[0097] Specifically, the movement controller refers to a controller for controlling the actuator 212 of the mobile device, which is configured to obtain a current movement speed of the mobile device in response to the analysis result of the emergency stop instruction, and predict motor deceleration information based on the analysis result and the current movement speed. The motor deceleration information can be obtained by making the actuator 212 execute the emergency stop operation based on the analysis result, and then predicting the motor deceleration information according to the current speed without damaging the motor of the mobile device. The motor deceleration information refers to the predicted acceleration information or rotation speed of the motor for decelerating the mobile device. The safety driver refers to a device for driving the motor of the mobile device based on the instruction of the movement controller, i.e., for driving the motor to decelerate according to the motor deceleration information, so as to make the mobile device decelerate and stop. The delay component refers to a device for controlling the delay shutdown of the motor, which can be preset with a delay time. When the preset delay time is reached, the delay component sends a power-off instruction to the motor, wherein the delay time is usually set according to the resistance value of the dial switch, which is completed by a hardware circuit and defaults to 2 seconds. The power-off instruction can be to make the motor power off, stop and brake, etc.

[0098] Further, according to the delay component, in the case that the preset delay time is reached, the safety driver also drives the motor to power off and brake corresponding to the power-off instruction sent by the delay component. The speed encoder refers to the real-time speed of the motor during the process of decelerating and stopping the motor based on the safety driver when the motor is powered off and braked, and the motor needs to be processed through a series of deceleration, stopping, shutdown and braking; then the mobile controller is also configured to match the preset speed with the current speed obtained in real time, and if they do not match, an alarm information is generated, for example, in the third second when the motor starts to decelerate, the preset speed is 3 and the current speed is 2.8, it is determined that they do not match, and an alarm information is generated.

[0099] By applying the scheme of the embodiment of the application, the delay component, the mobile controller, the safety driver, the motor and the speed encoder are included in the execution mechanism, the deceleration information of the motor is predicted by the mobile controller, the current speed of the motor is obtained by the speed encoder, it is determined whether the preset motor speed matches, and then it is determined whether the alarm information is generated; the delay component further has a preset delay time, when the preset delay time is reached, whether the motor has been decelerated and stopped to zero speed or not, the motor is driven to power off and brake by the safety driver, so as to avoid that the mobile device causes greater loss due to not performing the shutdown operation within the preset time after receiving the emergency stop instruction.

[0100] In an optional embodiment of the application, the mobile controller is also configured to send a power-on instruction to the safety driver in the case that the reset instruction forwarded by the second safety control mechanism is received.

[0101] The safety driver is also configured to drive the motor to reset according to the power-on instruction.

[0102] The mobile controller sends a power-on instruction to the safety driver in the case that the reset instruction forwarded by the second safety control mechanism is received, so that the motor is reset, that is, the state of shutdown and braking is released, so as to directly perform corresponding scheduling processing based on the scheduling instruction in the subsequent case that the scheduling instruction is received. The safety driver drives the motor to perform a power-on operation, that is, the state of shutdown and braking is released, and enters the standby state in the case that the power-on instruction sent by the mobile controller is received.

[0103] Referring to Figure 3 , Figure 3 An execution mechanism interaction flowchart under the architecture of a motion control system provided by an embodiment of the application is shown, and specifically as follows:

[0104] The execution mechanism includes a delay component, a mobile controller, a safety driver, a motor and a speed encoder.

[0105] When the actuator receives the emergency stop instruction, the specific data flow is as follows:

[0106] The first stage: the mobile controller receives the emergency stop instruction transmitted by the second safety control mechanism, obtains the current moving speed of the mobile device, predicts motor deceleration information according to the current moving speed, and sends the motor deceleration information to the safety driver;

[0107] The second stage: the safety driver left and the safety driver right drive the motor left and the motor right to decelerate according to the motor deceleration information respectively;

[0108] The third stage: the delay component receives the emergency stop instruction transmitted by the second safety control mechanism at the same time, and sends a power-off instruction to the safety driver when a preset delay time is reached;

[0109] The fourth stage: the safety driver left and the safety driver right drive the motor left and the motor right to power off and brake respectively according to the power-off instruction;

[0110] The fifth stage: the speed encoder obtains the current rotating speed of the motor left and the motor right, and feeds back the current rotating speed to the mobile controller; the mobile controller generates an alarm information when the current rotating speed does not match a preset rotating speed.

[0111] When the mobile controller receives the reset instruction, the safety driver is sent a power-on instruction, so that the safety driver drives the motor to reset and restore the standby state, so that the mobile device can be directly scheduled in subsequent scheduling of the mobile device, and the efficiency of subsequent work of the mobile device is improved.

[0112] In an optional embodiment of the present application, the actuator comprises a safety controller, a mobile controller, a safety driver, a motor and a data encoder;

[0113] The safety controller is configured to receive an analysis result of the emergency stop instruction, and forward the analysis result to the mobile controller;

[0114] The mobile controller is configured to obtain a current moving speed of the mobile device in response to the analysis result, predict motor deceleration information according to the current moving speed, and send the motor deceleration information to the safety driver;

[0115] The safety driver is configured to drive the motor to decelerate according to the motor deceleration information;

[0116] The data encoder is configured to obtain a current rotating speed of the motor, and feed back the current rotating speed to the safety controller;

[0117] The safety controller is further configured to monitor the motor deceleration information, identify whether the motor has a deceleration abnormality according to the current rotating speed, and send a power-off instruction to the safety driver if the motor has the deceleration abnormality.

[0118] The safety driver is further configured to drive the motor to be powered off and be braked according to the power-off instruction.

[0119] Specifically, the safety controller refers to a device for monitoring and controlling the safety deceleration of the mobile device, for example, when the motor does not decelerate according to the predetermined speed, it is determined that the motor has an abnormality.

[0120] When the safety controller receives the analysis result of the emergency stop instruction, the analysis result is sent to the mobile controller, so that the mobile controller can control the mobile device to perform corresponding processing based on the analysis result; the mobile controller obtains the current speed of the mobile device based on the analysis result, predicts the motor deceleration information, and sends the motor deceleration information to the safety driver, so that the safety driver drives the motor to decelerate based on the predicted motor deceleration information; the data encoder simultaneously obtains the real-time current rotating speed of the motor, and feeds back the obtained current rotating speed to the mobile controller, so that the mobile controller monitors the motor deceleration information, matches the current rotating speed of the motor with the rotating speed in the predicted motor deceleration information, and determines whether there is a deceleration abnormality; if it is determined that the deceleration abnormality occurs, a power-off instruction is sent to the safety driver; and the safety driver drives the motor to be powered off and be braked.

[0121] In addition, if the mobile controller matches the current rotating speed of the motor with the rotating speed in the predicted motor deceleration information, and finds that they are matched, that is, the motor does not have a deceleration abnormality, only the safety driver needs to drive the motor to decelerate, and the driver does not need to be powered off and be braked.

[0122] By applying the scheme of the embodiment of the application, the actuator includes a safety controller, a mobile controller, a safety driver, a motor and a data encoder; the mobile controller receives an emergency stop instruction, predicts motor deceleration information, and drives the motor to decelerate according to the motor deceleration information by using the safety driver; meanwhile, the data encoder obtains the current rotating speed of the motor in real time, and feeds back to the safety controller; the safety controller monitors the rotating speed of the motor, and determines whether there is an abnormality; if it is determined that there is an abnormality, the safety driver drives the motor to be powered off and be braked; in a certain extent, the safety of the motor is ensured, and errors caused by the deceleration abnormality of the motor are avoided.

[0123] In an optional embodiment of the application, the safety controller is further configured to, in a case where the reset instruction is forwarded by the second safety control mechanism, forward the reset instruction to the mobile controller.

[0124] The mobile controller is further configured to send a power-on instruction to the safety driver in response to the reset instruction.

[0125] The safety driver is further configured to drive the motor to reset according to the power-on instruction.

[0126] The safety controller sends a reset instruction to the mobile controller in response to the reset instruction sent by the second safety control mechanism, and the mobile controller processes the reset instruction accordingly, that is, the mobile controller sends a power-on instruction to the safety driver based on the reset instruction, so that the safety driver drives the motor to perform a power-on operation, that is, to release the stop and brake states, so that the motor can directly perform scheduling based on the scheduling instruction when receiving the scheduling instruction.

[0127] Referring to Figure 4 , Figure 4 An execution mechanism interaction flowchart under another motion control system architecture provided by an embodiment of the application is shown, and specifically as follows.

[0128] The execution mechanism includes a safety controller, a mobile controller, a safety driver, a motor and a data encoder.

[0129] When the execution mechanism receives an emergency stop instruction, the specific data flow is as follows:

[0130] First stage: the safety controller receives the analysis result of the emergency stop instruction and forwards the analysis result to the mobile controller; the mobile controller receives the emergency stop instruction, obtains the current moving speed of the mobile device, predicts motor deceleration information according to the current moving speed, and sends the motor deceleration information to the safety driver left and the safety driver right.

[0131] Second stage: the safety driver left and the safety driver right drive the motor left and the motor right to decelerate according to the motor deceleration information; the data encoder obtains the current rotating speed of the motor and feeds back the current rotating speed to the safety controller.

[0132] Third stage: the safety controller monitors the motor deceleration information, identifies whether the motor left and the motor right have deceleration abnormalities according to the current rotating speed, and sends a power-off instruction to the safety driver left and the safety driver right if the motor left and the motor right have deceleration abnormalities; the safety driver left and the safety driver right drive the motor left and the motor right to power off and brake according to the power-off instruction.

[0133] When the safety controller receives a reset instruction, the reset instruction is forwarded to the mobile controller according to the scheme of the embodiment of the application, the mobile controller sends a power-on instruction to the safety driver, so that the safety driver drives the motor to perform a power-on operation, so as to directly receive another instruction and directly act based on the instruction subsequently.

[0134] In an alternative embodiment of the present application, the control platform is further configured to generate a scheduling instruction, and transmit the scheduling instruction to the mobile device through a second communication link, wherein the scheduling instruction conforms to a preset data link communication protocol, and the second communication link is a communication link of the preset data link communication protocol among the at least two communication links.

[0135] The mobile device is further configured to receive the scheduling instruction through the second communication link, analyze the scheduling instruction, and perform a scheduling operation based on an analysis result.

[0136] Specifically, the scheduling instruction refers to an instruction for scheduling the mobile device generated by human operation or system software, and the scheduling instruction conforms to a preset data link communication protocol. For example, the scheduling instruction can be an instruction for pressing a button of the mobile device to carry goods, or an instruction for inputting the mobile device to place goods on a certain shelf. After the control platform generates the scheduling instruction, the scheduling instruction is transmitted to the mobile device through the second communication link, and the mobile device performs corresponding scheduling processing. In addition, the scheduling instruction conforming to the preset data link communication protocol is transmitted through the second communication link, so that the scheduling instruction can be protected by the preset data link communication protocol, and the influence of the transmission of the emergency stop instruction is greatly reduced.

[0137] By applying the scheme of the embodiment of the present application, the control platform is further configured to generate a scheduling instruction, and the generated scheduling instruction conforms to a preset data link communication protocol. The scheduling instruction is transmitted to the mobile device through a second communication link. The mobile device receives the scheduling instruction through the second communication link, analyzes the scheduling instruction to obtain an analysis result, and performs a scheduling operation based on the analysis result. The scheduling instruction is transmitted through the second communication link different from the first communication link, so that the safety of the transmission of the scheduling instruction is ensured, and the influence of the transmission of the emergency stop instruction is greatly reduced.

[0138] In an alternative embodiment of the present application, the control platform is further configured to generate a reset instruction in a case where a reset event is detected, and transmit the reset instruction to the mobile device through the first communication link.

[0139] The mobile device is further configured to receive the reset instruction through the first communication link, analyze the reset instruction, and resume work based on an analysis result.

[0140] Specifically, the reset event refers to an event that causes the mobile device to reset due to human or system software reasons, such as the reset event being triggered can be that the emergency stop button of the mobile device area is released, the grating changes from being blocked to normal, the safety door is closed and the human performs a start action, etc. When it is detected that the reset event is triggered, the control platform generates a reset instruction, and transmits the reset instruction to the mobile device, and the mobile device performs corresponding reset processing based on the reset instruction, that is, resumes work, that is, through detection of whether the reset event is triggered, corresponding processing can be quickly made in the case that the reset event is triggered, to prevent the generation of a processing flow corresponding to the reset event. The reset instruction refers to an instruction containing information instructing the mobile device to reset, and through the reset instruction, the mobile device can resume work in the shutdown state.

[0141] When the control platform detects that the reset event is triggered, a reset instruction is generated, and the reset instruction is transmitted to the mobile device through the first communication link. The mobile device receives the reset instruction through the first communication link and analyzes the reset instruction. Based on the result of the analysis, the work is resumed.

[0142] Based on Figure 2 , the network communication stack receives the control instruction and filters and identifies the received control instruction. It is identified that the control instruction is a non-safety instruction received from the first communication link. The non-safety instruction is analyzed through a preset data link communication protocol to obtain a reset instruction, and then output to the execution structure in the format of Ethernet / IP protocol and CAN bus protocol. Of course, in another implementation mode, the reset instruction can also be a safety instruction, and the network communication stack will forward the safety instruction to the safety protocol stack. The safety protocol stack analyzes the safety instruction conforming to the preset safety communication protocol through the preset safety communication protocol to obtain the analysis result as the reset instruction, and then outputs the analysis result in the form of input and output quantity through the second safety input and output interface.

[0143] By applying the scheme of the embodiment of the application, when the control platform detects that the reset event is triggered, a reset instruction is generated and transmitted to the mobile device through the first communication link, so that the mobile device receives the reset instruction through the first communication link and analyzes the reset instruction. The mobile device can perform corresponding processing based on the information obtained by the analysis, and resumes work based on the analysis result. The transmission of the reset instruction through the first communication link ensures the transmission channel of the reset instruction, further ensures the safe transmission of the reset instruction, and facilitates the processing of the mobile device after reset.

[0144] In an optional embodiment of the application, the mobile device is further configured to feed back confirmation information to the control platform after receiving the emergency stop instruction.

[0145] The control platform is further configured to send a prompt message to the mobile device if the confirmation information fed back by the mobile device is not received within a preset safety period after the emergency stop instruction is transmitted to the mobile device.

[0146] The mobile device is further configured to perform a shutdown operation in response to the prompt message.

[0147] Specifically, the preset safety period refers to a period for feeding back a safety instruction, that is, after the control platform sends the emergency stop instruction to the mobile device, the control platform waits for a time length corresponding to the preset safety period, and needs to receive the confirmation message from the mobile device within the preset period. The confirmation message refers to a message corresponding to the emergency stop instruction, which is used to inform the control platform that the mobile device has received the emergency stop instruction. The control platform first sends the emergency stop instruction to the mobile device, and the mobile device needs to feed back the confirmation message to the control platform based on the emergency stop instruction, so that the control platform confirms that the mobile device has received the emergency stop instruction. The prompt message refers to a message corresponding to the emergency stop instruction and the confirmation message, which is used to send a prompt message to the mobile device again when the control platform does not receive the feedback from the mobile device, so that the mobile device performs the shutdown operation after receiving the prompt message, and thus achieves the purpose required by the emergency stop instruction.

[0148] Optionally, the way to make the mobile device perform the shutdown operation can also be that the control platform sets a preset time length during a normal working period of the mobile device, and sends a first interaction message to the mobile device every preset time length. The mobile device needs to return a second interaction message to the control platform within a preset safety period. If the control platform fails to send the first interaction message or the mobile device fails to send the second interaction message, the control platform sends a prompt message to the mobile device, so that the mobile device performs the shutdown operation in response to the prompt message.

[0149] Optionally, there are many possibilities that the confirmation message fed back by the mobile device is not received, which can be that the control platform fails to send the emergency stop instruction successfully, or that the control platform sends successfully but the mobile device fails to send the confirmation message.

[0150] The control platform sends the emergency stop instruction to the mobile device, and confirms whether the confirmation message sent by the mobile device is received within the preset safety period. If yes, the emergency stop process ends.

[0151] The application embodiment is applied to the scheme, the preset safety period is set in the control platform, and it is determined whether the confirmation message of the mobile device is received within the preset period after the emergency stop instruction is sent, if not, the prompt message is sent to the mobile device, so that the mobile device performs the shutdown operation, so that even if the mobile device does not perform the shutdown operation according to the emergency stop instruction, the shutdown operation is performed according to the received prompt message, and it is ensured that the mobile device performs the shutdown operation.

[0152] The first communication link and the second communication link exist between the control platform and the mobile device, the first communication link meets the preset safety communication protocol, and the safety task time interval is set in the control platform and the mobile device, the interactive confirmation is kept according to the safety task time interval after the control platform and the mobile device are connected, that is, when the control platform successfully sends the first response message and receives the second response message returned by the mobile device, the current interactive confirmation is considered valid; if the control platform does not successfully send the first response message or the mobile device does not successfully return the second response message, the mobile device is automatically controlled by the internal unit to enter the safety state, that is, the emergency stop state, the second safety control mechanism can send the emergency stop instruction to the execution mechanism, so that the mobile device is controlled to stop safely, until the control platform and the mobile device are reconnected, after the reconnection, the mobile device automatically exits the safety state through the internal unit control and restores to the state before entering the safety state.

[0153] Referring to Figure 5a With Figure 5b , Figure 5a The data flow diagram of the motion control system provided by the embodiment of the application is shown, Figure 5b The data flow diagram of another motion control system provided by the embodiment of the application is shown, and the specific process is as follows:

[0154] Figure 5a In the control platform, the safety trigger mechanism, the first safety control mechanism, the system software and the wireless transmitter are included; the mobile device includes the wireless receiver, the execution mechanism, and the interaction between the control platform and the mobile device is only carried out through a data link layer, that is, a physical layer.

[0155] Figure 5b In the first communication link, the control platform includes the safety trigger mechanism, the first safety control mechanism and the wireless transmitter, and the mobile device includes the wireless receiver, the second safety control mechanism and the execution mechanism; in the second communication link, the control platform includes the system software and the wireless transmitter, and the mobile device includes the wireless receiver, the second safety control mechanism and the execution mechanism, wherein the first communication link communicates through the safety communication layer protected by the preset safety communication protocol, and the second communication link communicates through the data link layer.

[0156] According to the solution of the embodiment of the present invention, the motion control system includes: a control platform and at least one mobile device, and the control platform communicates with each mobile device through at least two communication links; the control platform is configured to generate an emergency stop command when a safety event is detected to be triggered, and transmit the emergency stop command to the mobile device through a first communication link, and the first communication link is a communication link with a preset safety communication protocol among the at least two communication links; the mobile device is configured to receive the emergency stop command through the first communication link, parse the emergency stop command using the preset safety communication protocol, and perform a shutdown operation based on the parsing result. By setting at least two communication links between the control platform and the mobile device, when the control platform detects that a safety event is triggered, an emergency stop instruction that complies with the preset safety communication protocol is generated, so that the emergency stop instruction can be transmitted through the first communication link of the preset safety communication protocol and transmitted to the mobile device. After receiving the emergency stop instruction transmitted by the first communication link, the mobile device parses the emergency stop instruction and performs a shutdown operation based on the parsing result, that is, a first communication link is set for the emergency stop instruction, and a different communication link is used for transmission with other communication signals, and the transmission of the emergency stop instruction is protected by the preset safety communication protocol, thereby reducing the probability of transmission failure or error when the emergency stop instruction is transmitted to the mobile device, and improving the safety of the transmission of the emergency stop instruction.

[0157] See also Figure 6 , Figure 6 An interactive flow chart of a motion control method according to an embodiment of the present invention is shown, which is applied to a motion control system. The motion control system includes: a control platform and at least one mobile device, wherein the control platform communicates with each mobile device via at least two communication links. The method specifically includes the following steps:

[0158] Step 602: The control platform generates an emergency stop command when detecting that a safety event is triggered, and transmits the emergency stop command to the mobile device via a first communication link, wherein the emergency stop command complies with a preset safety communication protocol, and the first communication link is a communication link of the at least two communication links that complies with the preset safety communication protocol;

[0159] Step 604: The mobile device receives the emergency stop instruction through the first communication link, parses the emergency stop instruction using the preset safety communication protocol, and performs a shutdown operation based on the parsing result.

[0160] For details of steps 602 to 604, see Figure 1 The corresponding system embodiments will not be described in detail here.

[0161] See also Figure 7 , Figure 7A flow chart of a motion control method applied to a control platform is shown, which comprises the following steps according to an embodiment of the present application:

[0162] Step 702: generating an emergency stop instruction when a safety event is detected;

[0163] Step 704: transmitting the emergency stop instruction to a mobile device through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol between the control platform and the mobile device.

[0164] For specific embodiments of steps 702-704, please refer to Figure 1 The corresponding system embodiments are not described here again.

[0165] For specific embodiments of steps 702-704, please refer to Figure 8 , Figure 8 A flow chart of a motion control method applied to a mobile device is shown, which comprises the following steps according to an embodiment of the present application:

[0166] Step 802: receiving an emergency stop instruction transmitted by a control platform through a first communication link, wherein the first communication link is a communication link of a preset safety communication protocol between the control platform and the mobile device, and the emergency stop instruction conforms to the preset safety communication protocol;

[0167] Step 804: analyzing the emergency stop instruction using the preset safety communication protocol, and performing a shutdown operation based on the analysis result.

[0168] For specific embodiments of steps 802-804, please refer to Figure 1 The corresponding system embodiments are not described here again.

[0169] According to the scheme of the embodiment of the application, the motion control system comprises a control platform and at least one mobile device, the control platform and each mobile device are in communication through at least two communication links; the control platform is configured to generate an emergency stop instruction in the case that a safety event is detected to be triggered, transmit the emergency stop instruction to the mobile device through a first communication link, and the first communication link is a communication link of a preset safety communication protocol in the at least two communication links; the mobile device is configured to receive the emergency stop instruction through the first communication link, analyze the emergency stop instruction by using the preset safety communication protocol, and execute a shutdown operation based on the analysis result. By setting at least two communication links between the control platform and the mobile device, in the case that the control platform detects that a safety event is triggered, an emergency stop instruction conforming to a preset safety communication protocol is generated, so that the emergency stop instruction can be transmitted through the first communication link of the preset safety communication protocol and transmitted to the mobile device. After the mobile device receives the emergency stop instruction transmitted by the first communication link, the mobile device analyzes the emergency stop instruction and executes a shutdown operation based on the analysis result, that is, the first communication link is set for the emergency stop instruction, and the emergency stop instruction is transmitted through a different communication link from other communication signals. In addition, the transmission of the emergency stop instruction is protected by the preset safety communication protocol, so that the probability of transmission failure or error of the emergency stop instruction when the emergency stop instruction is transmitted to the mobile device is reduced, and the safety of the transmission of the emergency stop instruction is improved.

[0170] Figure 9 A structural block diagram of a control platform according to an embodiment of the application is shown. The components of the control platform include a safety trigger mechanism 902, a first safety control mechanism 904, and a wireless transmitter 906.

[0171] The safety trigger mechanism 902 includes an emergency stop button, a grating, a safety door, etc. The output signal form of various safety trigger mechanisms 902 is specified by the design manual of each device. Common emergency stop buttons are double-circuit pulses, gratings are OSSD signals, and safety door locks are OSSD signals. The input is triggered by an operator or automatically triggered. The output is an I / O signal output indicating the device state, including triggered, untriggered, or abnormal state.

[0172] The safety trigger mechanism 902 can be installed at the periphery of the mobile device working area and the position where the operator interfaces, with the emergency stop button, the grating and the safety door, wherein the safety door is the only passage for the personnel to enter and exit the mobile device working area, and the mobile device working area is isolated from the outside by the fixed fence to reduce the risk of impact or extrusion caused by the error operation of the mobile device. After triggering, the first safety control mechanism 904 issues the emergency stop instruction and transmits it to at least one mobile device; the safety door lock installed on the safety door is the only entrance for the operator to enter the mobile device working area. When the safety door lock is activated, the emergency stop instruction will be sent by the first safety control mechanism 904 and transmitted to at least one mobile device; each safety trigger mechanism 902 is equipped with a reset button, and the reset instruction can be triggered through the reset button.

[0173] The first safety control mechanism 904 includes a first safety input / output interface, a first safety processor and a safety network module; the input is the condition whether the safety trigger mechanism 902 or the reset button is triggered, that is, the output of the safety trigger mechanism 902 or the reset button; the output is whether the safety trigger mechanism 902 is triggered or the reset button is pressed in the form of a network port.

[0174] The first safety control mechanism 904 can respond to the triggering of the safety trigger mechanism 902 through logic programming and transmission through the preset safety communication protocol CIP safety. Among them, the first safety input / output interface is used to input the state of the safety trigger mechanism 902 for the first safety processor; the first safety processor is used to respond to the triggering of the safety trigger mechanism 902 through logic programming. In the safety communication layer, the input signal is encoded into a safety format conforming to the CIP safety protocol. Perform the verification actions specified by the preset safety communication protocol, such as redundancy detection, data integrity verification, timeout detection, connection authorization detection, etc. The safety network module is used to send the operation result of the safety CPU in the form of a network port. The output signal of the first safety control mechanism 904 is Ethernet / IP in the data link layer communication protocol, CIP safety in the safety communication layer, and high-speed analog signal quantity in the form of a network port.

[0175] The wireless transmitter 906 includes a switch, a wireless controller and a wireless access point, the input of which is the output of the first safety control mechanism 904, and the output is to send a wireless signal to the mobile device. The switch is used to forward the data packet to the destination node port (wireless controller and wireless access point); the wireless controller and the wireless access point are used to convert the data packet into a wireless signal form and send it to the mobile device.

[0176] Limitations on the scope of the present application. Those skilled in the art can add or replace other components as needed.

[0177] It should be noted that the technical solution of the control platform belongs to the same concept as the technical solution of the motion control system described above. The details of the technical solution of the control platform that are not described in detail can be referred to the description of the technical solution of the motion control system described above.

[0178] Figure 10 A structural block diagram of a mobile device according to one embodiment of the present application is shown. The components of the mobile device include a wireless receiver 1002, a second safety control mechanism 1004, and an execution mechanism 1006.

[0179] The wireless receiver 1002 includes a wireless receiving module, a forwarding module, and a wireless receiving processor. The input is a wireless signal, and the output is an Ethernet format instruction.

[0180] The wireless receiver 1002 is used to convert the received wireless signal into an Ethernet port format data packet. The wireless receiving module is used to receive a WIFI signal; the wireless receiving processor is used for data packet transparent transmission; the forwarding module is used to forward the received wireless signal into an Ethernet port format. After the wireless receiver 1002 receives a 2.4GHz wireless signal, it is transmitted to the wireless receiving processor through the PCIE bus. The wireless receiving processor transparently transmits the signal and outputs it from the network port in the Ethernet / IP protocol format by the forwarding module.

[0181] The second safety control mechanism 1004 includes a network communication stack, a second processor, a security protocol stack, and a second safety input / output interface. The input is an Ethernet port format data packet, and the output is a safety output and a non-safety output.

[0182] The second safety control mechanism 1004 parses the non-safety data packet in the format of Ethernet / IP communication protocol. The safety data packet is parsed in the format of CIP safety preset safety communication protocol. The parsed instruction is output in the format of input and output quantity. The network communication stack is an Ethernet / IP communication stack module for filtering the data packet into safety data and non-safety data. For the safety data, the network communication stack sends it to the safety protocol stack. For the non-safety data, the network communication stack parses it into non-safety instruction. The second processor is configured to collect the initialization information of the network protocol stack, the state information and fault information of each sub-module of the second safety control mechanism 1004, and output the non-safety instruction such as reset instruction. The safety protocol stack and the second safety input and output interface are used to parse the safety data in the format of CIP safety preset safety communication protocol and output the safety output such as system emergency stop instruction. The input signal of the network communication stack is the received Ethernet / IP protocol data packet in the form of network port. The output signal is the Ethernet / IP protocol and CAN bus protocol interaction to the execution mechanism to transmit the initialization state information, fault information and reset instruction, and transmit the safety data packet to the safety protocol stack. The safety protocol stack outputs the parsed safety instruction signal in the form of input and output quantity through the second safety input and output interface.

[0183] The execution mechanism 1006 can include a delay component, a movement controller, a safety driver, a motor, and a data encoder. The input is the safety instruction parsed by the second safety control mechanism 1004. The output is the action of the execution mechanism 1006 according to the instruction.

[0184] The execution mechanism 1006 is configured to act according to the instruction. When the execution mechanism 1006 receives the emergency stop instruction, the movement controller receives the emergency stop instruction transmitted by the second safety control mechanism 1004, obtains the current movement speed of the movement device, predicts the motor deceleration information according to the current movement speed, and sends the motor deceleration information to the safety driver. The safety driver includes a safety driver left and a safety driver right. According to the motor deceleration information, the safety driver left and the safety driver right respectively drive the motor left and the motor right to decelerate according to the motor deceleration information. The delay component simultaneously receives the emergency stop instruction transmitted by the second safety control mechanism 1004. When the preset delay time is reached, the delay component sends a power-off instruction to the safety driver. The safety driver left and the safety driver right respectively drive the motor left and the motor right to power off and brake according to the power-off instruction. The speed encoder obtains the current rotating speed of the motor left and the motor right, and feeds back the current rotating speed to the movement controller. When the current rotating speed does not match the preset rotating speed, the movement controller generates an alarm information.

[0185] When receiving the reset instruction, the motor will power on and release the brake, waiting for the new instruction from the control platform. The received wireless signal will be directly transmitted to the mobile controller for analysis, which is different from the emergency stop instruction transmission link. The reset instruction is transmitted from the network protocol stack to the second processor in the second safety control mechanism 1004, and then forwarded to the mobile controller. The mobile controller sends the motor power-on and brake release instruction to the safety driver, and then the motor resets. Before receiving the scheduling instruction, the mobile device will be stationary and wait. The second safety control mechanism 1004 outputs the emergency stop instruction in the form of input and output quantities through the second safety input and output interface, and outputs the reset signal in the CAN bus protocol, so that the mobile device stops and the motor is powered off and braked, which is the final system emergency stop response.

[0186] The actuator 1006 can be a safety controller, a mobile controller, a safety driver, a motor, and a data encoder.

[0187] When the actuator 1006 receives the emergency stop instruction, the safety controller receives the analysis result of the emergency stop instruction and forwards it to the mobile controller; the mobile controller receives the emergency stop instruction and obtains the current moving speed of the mobile device, predicts the motor deceleration information according to the current moving speed, and sends the motor deceleration information to the safety driver left and the safety driver right; the safety driver left and the safety driver right drive the motor left and the motor right to decelerate according to the motor deceleration information; the data encoder obtains the current rotating speed of the motor and feeds back the current rotating speed to the safety controller; the safety controller monitors the motor deceleration information, identifies whether the motor left and the motor right have deceleration abnormalities according to the current rotating speed, and sends the power-off instruction to the safety driver left and the safety driver right if so; the safety driver left and the safety driver right drive the motor left and the motor right to power off and brake according to the power-off instruction.

[0188] When receiving the reset instruction, the mobile device jumps out of the system emergency stop state and enters the normal state. If the motor has been braked at this time, the mobile device will release the brake, be stationary and wait for the system scheduling instruction from the control platform. The system scheduling instruction link from the control platform to the mobile device does not pass through the second safety control mechanism 1004. The received wireless signal is directly transmitted to the mobile controller for analysis, which is not the same as the emergency stop instruction transmission link. The reset instruction is transmitted from the network protocol stack to the second processor of the second safety control mechanism 1004, and then forwarded to the safety controller and then to the mobile controller. The mobile controller sends the reset instruction to the safety driver, and the motor resets. Before receiving the scheduling instruction, the mobile device will be stationary. The second safety control mechanism 1004 outputs the reset instruction and the emergency stop instruction in the form of ordinary input and output interface and safety input and output interface quantities respectively, so that the mobile device stops, which is the final system emergency stop response.

[0189] The scope of the present application is not limited by the above. Other components can be added or substituted as desired by those skilled in the art.

[0190] It should be noted that the technical scheme of the mobile device belongs to the same concept as the technical scheme of the motion control system described above, and the details of the technical scheme of the mobile device that are not described in detail can be seen from the description of the technical scheme of the motion control system.

[0191] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still accomplish desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order to achieve desirable results. In certain implementations, multitasking and parallel processing can be advantageous.

[0192] It should be noted that for the foregoing method embodiments, in order to facilitate description, they are all expressed as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the application are all preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0193] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be seen from the related description of other embodiments.

[0194] The preferred embodiments of the application disclosed above are only used to help explain the application. Alternative embodiments do not describe all the details and do not limit the application to the specific embodiments described. Obviously, according to the content of the present application, many modifications and changes can be made. The present application selects and describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is limited only by the claims and their entire scope and equivalents.

Claims

1. A motion control system, characterized in that: The motion control system includes: a control platform and at least one mobile device, wherein the control platform communicates with each mobile device via at least two communication links, the at least two communication links including a first communication link and a second communication link, the second communication link being used to transmit a scheduling instruction, the scheduling instruction being generated by a server in the control platform and conforming to a preset data link communication protocol; The control platform is configured to generate an emergency stop instruction when a safety event is detected to be triggered, and transmit the emergency stop instruction to the mobile device via a first communication link, wherein the emergency stop instruction complies with a preset safety communication protocol, the emergency stop instruction is generated by a safety controller in the control platform, and the first communication link is a communication link of the at least two communication links that complies with the preset safety communication protocol; The mobile device is configured to receive the emergency stop instruction through the first communication link, parse the emergency stop instruction using the preset safety communication protocol, and perform a shutdown operation based on the parsing result; receive the scheduling instruction through the second communication link, parse the scheduling instruction, and perform a scheduling operation based on the parsing result.

2. The system according to claim 1, wherein: The control platform includes a safety trigger mechanism and a first safety control mechanism; The safety trigger mechanism is configured to generate a safety event trigger signal and send it to the first safety control mechanism when identifying an event that meets the safety trigger condition; The first safety control mechanism is configured to receive the safety event trigger signal sent by the safety trigger mechanism, encode the safety event trigger signal using the preset safety communication protocol to obtain an emergency stop instruction, and transmit the emergency stop instruction to the mobile device through the first communication link.

3. The system according to claim 1 or 2, characterized in that The control platform includes a wireless transmitter; The wireless transmitter is configured to forward the emergency stop command to a destination port, convert the emergency stop command into a wireless signal through the destination port and transmit it to the mobile device, wherein the destination port is the port for data transmission between the control platform and the mobile device through the first communication link.

4. The system according to claim 3, characterized in that The control platform also includes a network address translation device; The wireless transmitter is further configured to send the emergency stop instruction to the network address translation device; The network address translation device is configured to perform address translation on the emergency stop instruction, forward the emergency stop instruction after address translation to the destination port, and transmit the emergency stop instruction after address translation to the mobile device in the form of a wireless signal through the destination port.

5. The system according to claim 3, wherein: The mobile device includes a wireless receiver; The wireless receiver is configured to receive the wireless signal through the first communication link and forward the wireless signal into an emergency stop instruction in an Ethernet port format.

6. The system according to any one of claims 1, 2 and 5, characterized in that The mobile device includes a second safety control mechanism and an execution mechanism; The second safety control mechanism is configured to parse the emergency stop instruction using the preset safety communication protocol, obtain a parsing result, and send the parsing result to the execution mechanism; The execution mechanism is configured to execute a shutdown operation based on the analysis result.

7. The system according to claim 6, characterized in that The actuator includes: a delay component, a motion controller, a safety drive, a motor and a speed encoder; The mobile controller is configured to obtain a current moving speed of the mobile device in response to a parsing result of the emergency stop instruction, predict motor deceleration information based on the current moving speed, and send the motor deceleration information to the safety driver; The safety driver is configured to drive the motor to decelerate according to the motor deceleration information; The delay component is configured to send a power-off instruction to the safety driver in response to the parsing result of the emergency stop instruction when a preset delay time is reached; The safety driver is further configured to drive the motor to power off and brake according to the power-off instruction; The speed encoder is configured to obtain a current rotation speed of the motor and feed the current rotation speed back to the motion controller; The mobile controller is further configured to generate an alarm message when the current rotation speed does not match the preset rotation speed.

8. The system according to claim 7, characterized in that The mobile controller is further configured to send a power-on instruction to the security driver upon receiving the reset instruction forwarded by the second security control mechanism; The safety driver is further configured to drive the motor to reset according to the power-on instruction.

9. The system according to claim 6, wherein: The actuator includes: a safety controller, a movement controller, a safety driver, a motor and a data encoder; The safety controller is configured to receive a parsing result of the emergency stop instruction and forward the parsing result to the mobile controller; The mobile controller is configured to obtain a current moving speed of the mobile device in response to the analysis result, predict motor deceleration information according to the current moving speed, and send the motor deceleration information to the safety driver; The safety driver is configured to drive the motor to decelerate according to the motor deceleration information; The data encoder is configured to obtain a current rotation speed of the motor and feed the current rotation speed back to the safety controller; The safety controller is further configured to monitor the motor deceleration information, identify whether the motor has deceleration abnormality according to the current speed, and send a power-off instruction to the safety driver if so; The safety driver is further configured to drive the motor to power off and brake according to the power-off instruction.

10. The system according to claim 9, characterized in that The security controller is further configured to, upon receiving a reset instruction forwarded by the second security control mechanism, forward the reset instruction to the mobile controller; The mobile controller is further configured to send a power-on instruction to the security driver in response to the reset instruction; The safety driver is further configured to drive the motor to reset according to the power-on instruction.

11. The system according to claim 1, wherein: The control platform is further configured to generate a scheduling instruction and transmit the scheduling instruction to the mobile device via a second communication link, wherein the second communication link is a communication link of the preset data link communication protocol among the at least two communication links.

12. The system according to claim 1, wherein: The control platform is further configured to generate a reset instruction when detecting that a reset event is triggered, and transmit the reset instruction to the mobile device via the first communication link; The mobile device is further configured to receive the reset instruction through the first communication link, parse the reset instruction, and resume operation based on the parsing result.

13. The system according to claim 1, wherein: The mobile device is further configured to feed back confirmation information to the control platform after receiving the emergency stop instruction; The control platform is further configured to send a prompt message to the mobile device if the confirmation information fed back by the mobile device is not received within a preset safety period after the emergency stop command is transmitted to the mobile device; The mobile device is further configured to perform a shutdown operation in response to the prompt message.

14. A motion control method, characterized in that: The method is applied to a motion control system, the motion control system comprising: a control platform and at least one mobile device, wherein the control platform communicates with each mobile device via at least two communication links, the at least two communication links comprising a first communication link and a second communication link, the second communication link being used to transmit a scheduling instruction, the scheduling instruction being generated by a server in the control platform and conforming to a preset data link communication protocol; the method comprising: The control platform generates an emergency stop command when detecting that a safety event is triggered, and transmits the emergency stop command to the mobile device via a first communication link, wherein the emergency stop command is generated by a safety controller in the control platform, wherein the emergency stop command complies with a preset safety communication protocol, and the first communication link is a communication link of the at least two communication links that complies with the preset safety communication protocol; The mobile device receives the emergency stop instruction through the first communication link, parses the emergency stop instruction using the preset safety communication protocol, and performs a shutdown operation based on the parsing result; receives the scheduling instruction through the second communication link, parses the scheduling instruction, and performs a scheduling operation based on the parsing result.

15. A motion control method, characterized in that: Applied to a control platform, the method includes: Generate an emergency stop command when a safety event is detected; The emergency stop command is transmitted to the mobile device through a first communication link, wherein the emergency stop command complies with a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol among at least two communication links between the control platform and the mobile device.

16. A motion control method, characterized in that: Applied to a mobile device, the method includes: Receiving an emergency stop command transmitted by a control platform via a first communication link, wherein the first communication link is a communication link of a preset safety communication protocol among at least two communication links between the control platform and the mobile device, the emergency stop command complies with the preset safety communication protocol, and the emergency stop command is generated by a safety controller in the control platform; the at least two communication links include a first communication link and a second communication link, the second communication link is used to transmit a scheduling command, the scheduling command is generated by a server in the control platform, and the scheduling command complies with a preset data link communication protocol; The emergency stop instruction is parsed using the preset safety communication protocol, and a shutdown operation is performed based on the parsing result; the scheduling instruction is received through the second communication link, the scheduling instruction is parsed, and a scheduling operation is performed based on the parsing result.

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