A control method, device and electronic equipment for pushing blocks on a hanging production line

Abstract

The present invention discloses a control method, device and electronic device for a pushing block on a hanging production line. The method includes continuously detecting a target distance between a target carrier and the pushing block, where the target carrier is the carrier closest to the pushing block on the moving path corresponding to the pushing block; when the target distance is less than a preset distance, adjusting the current speed of the pushing block to a first preset speed; after detecting pressure information, gradually increasing the current speed to a second preset speed, and the second preset speed is greater than the first preset speed. The present invention realizes the process of controlling the pushing block to decelerate and then gradually accelerate before the pushing block contacts the carrier, ensuring that the pushing block can continuously push against the carrier, and thus can accurately control the real-time position of the carrier.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and more particularly, to a control method, device, and electronic device for a pusher block on a hanging production line. Background Art

[0002] In existing hanging production systems, according to different processes and functions, production lines will have different structures and operating modes, which will also cause differences in the structures of hanging carriers set on different production lines. One type of hanging carrier is provided with rollers and relies on the way of rolling and sliding on the track to drive the movement of the hanging carrier. In relatively horizontal track sections, in order to assist the movement of this type of hanging carrier, a pusher block is generally provided in the track structure, and the movement of the pusher block is controlled to assist in pushing the rolling of the rollers in the hanging carrier.

[0003] However, since the pusher block pushes the hanging carrier by means of collision, in actual situations, the running speed of the pusher block is relatively fast, so that the pushing method of the pusher block is mostly that the pusher block hits the carrier and rolls forward for a certain distance and then stops, and then waits for the pusher block to catch up with the carrier and continue to collide, rather than the pusher block continuously pushing the carrier to move. This makes the real-time position of the carrier not fully controllable during the movement of the carrier on the production line, which is not conducive to processes such as the track-changing control of the carrier. Summary of the Invention

[0004] To solve the above problems, embodiments of this application provide a control method, device, and electronic device for a pusher block on a hanging production line.

[0005] In a first aspect, embodiments of this application provide a control method for a pusher block on a hanging production line, the method including:

[0006] Continuously detect the target distance between the target carrier and the pusher block, where the target carrier is the carrier closest to the pusher block on the moving path corresponding to the pusher block;

[0007] When the target distance is less than a preset distance, adjust the current speed of the pusher block to a first preset speed;

[0008] After detecting the pressure information, gradually increase the current speed to a second preset speed, where the second preset speed is greater than the first preset speed.

[0009] Preferably, the method further includes:

[0010] When the target distance is greater than the preset distance or the target carrier cannot be detected, adjust the current speed to the initial speed.

[0011] Preferably, the gradually increasing the current speed to the second preset speed includes:

[0012] Determine the speed adjustment parameter of the push block within a unit time based on the current track type of the push block;

[0013] Gradually increase the current speed to a second preset speed based on the speed adjustment parameter.

[0014] Preferably, the determining the speed adjustment parameter of the push block within a unit time based on the current track type of the push block includes:

[0015] Determine the current track type of the push block based on the current position of the push block;

[0016] When the current track type is a straight track, determine the speed adjustment parameter of the push block within a unit time as a first speed adjustment parameter;

[0017] When the current track type is a curved track, determine the speed adjustment parameter of the push block within a unit time as a second speed adjustment parameter, and the second speed adjustment parameter is greater than the first speed adjustment parameter.

[0018] Preferably, the adjusting the current speed of the push block to a first preset speed includes:

[0019] Determine the adjacent distance between the push block and the adjacent push block, where the adjacent push block is the next push block adjacent to the push block in the reverse moving direction;

[0020] When the adjacent distance is less than the preset change distance corresponding to the push block, adjust the current speed of the push block to a third preset speed, where the third preset speed is greater than the first preset speed and less than the second preset speed;

[0021] When the adjacent distance is not less than the preset change distance corresponding to the push block, adjust the current speed of the push block to the first preset speed.

[0022] In a second aspect, an embodiment of the present application provides a control device for a push block on a hanging production line, and the device includes:

[0023] A detection module for continuously detecting the target distance between the target carrier and the push block, where the target carrier is the carrier closest to the push block on the moving path corresponding to the push block;

[0024] A first adjustment module for adjusting the current speed of the push block to a first preset speed when the target distance is less than a preset distance;

[0025] A second adjustment module for gradually increasing the current speed to a second preset speed after detecting pressure information, where the second preset speed is greater than the first preset speed.

[0026] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the method provided in the first aspect or any possible implementation manner of the first aspect are implemented.

[0027] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method provided in the first aspect or any possible implementation manner of the first aspect is implemented.

[0028] The beneficial effect of the present invention is that before the pushing block contacts the carrier, by controlling the process of reducing the speed of the pushing block and then gradually increasing the speed, it is ensured that the pushing block can continuously push against the carrier, and thus the real-time position of the carrier can be accurately controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0030] Figure 1 It is a schematic flow chart of a control method for a pushing block on a hanging production line provided by an embodiment of the present application;

[0031] Figure 2 It is a schematic structural diagram of a control device for a pushing block on a hanging production line provided by an embodiment of the present application;

[0032] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0034] In the following description, the terms "first" and "second" are only for the purpose of description and cannot be construed as indicating or implying relative importance. The following description provides multiple embodiments of the present application. Different embodiments can be replaced or combined. Therefore, the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing all other possible combinations of A, B, C, and D, although such an embodiment may not be explicitly described in the following content.

[0035] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the content of this application. Various processes or components may be appropriately omitted, substituted, or added to each example. For example, the methods described may be performed in a different order than the order described, and various steps may be added, omitted, or combined. In addition, the features described for some examples may be combined into other examples.

[0036] See Figure 1 , Figure 1 is a schematic flowchart of a control method for a pusher block on a hanging production line provided by an embodiment of this application. In the embodiment of this application, the method includes:

[0037] S101. Continuously detect the target distance between the target vehicle and the pusher block, where the target vehicle is the vehicle closest to the pusher block on the moving path corresponding to the pusher block.

[0038] The execution subject of this application may be a cloud server.

[0039] In the embodiment of this application, the pusher block is arranged on the track of the hanging production line, and the cloud server electrically controls the rotation of the drive motor in the pusher block to achieve the movement control of the pusher block. Similarly, the cloud server can also determine the position of the pusher block in the production line through the position of the electrical signal generated during the electrical interaction with the pusher block. In addition, a chip for storing vehicle information is generally arranged on the vehicle that needs to be pushed and transported by the pusher block on the production line. The cloud server can electrically connect to the reading terminal set at a fixed position on the production line to read the information on the vehicle chip within a certain range, and then determine the positions of each vehicle. When the positions of both the vehicle and the pusher block can be known, the target distance between the target vehicle and the pusher block can be detected and determined.

[0040] S102. When the target distance is less than a preset distance, adjust the current speed of the pusher block to a first preset speed.

[0041] In the embodiment of this application, a preset distance is set in advance. When the target distance is less than the preset distance, it is considered that the distance between the pusher block and the target vehicle is relatively close, and the two are about to come into contact. To ensure that the pusher block can boost the target vehicle more smoothly instead of causing a strong collision that makes the target vehicle be hit and move away, the cloud server will control the drive motor of the pusher block to rotate, so that the current speed of the pusher block becomes the first preset speed with a smaller speed, and the pusher block contacts the target vehicle at a lower moving speed, avoiding a large impact force caused by too high a speed and hitting the vehicle away.

[0042] In an implementable manner, the method further includes:

[0043] When the target distance is greater than the preset distance or the target vehicle cannot be detected, adjust the current speed to the initial speed.

[0044] In the embodiment of the present application, when the target distance is large, that is, the distance between the vehicle and the push block is far, or the target vehicle is not detected before the next push block in the moving direction, to ensure that the push blocks do not collide and block due to speed differences, the push block will be controlled to move at the initial speed. The initial speed can be the same as the second preset speed.

[0045] In one implementable manner, adjusting the current speed of the push block to the first preset speed includes:

[0046] Determine the adjacent distance between the push block and the adjacent push block, where the adjacent push block is the next push block adjacent to the push block in the reverse moving direction;

[0047] When the adjacent distance is less than the preset change distance corresponding to the push block, adjust the current speed of the push block to the third preset speed, where the third preset speed is greater than the first preset speed and less than the second preset speed;

[0048] When the adjacent distance is not less than the preset change distance corresponding to the push block, adjust the current speed of the push block to the first preset speed.

[0049] In the embodiment of the present application, during the process of the push block decelerating to the first preset speed and accelerating to the second preset speed, the distance between it and the next adjacent push block will shorten. To avoid collisions and blockages between the push blocks, a change distance will be preset. The preset change distance can be calculated and determined based on the situation with the largest distance change amplitude, that is, the relative change distance generated by adjusting the parameter from the first speed to the second preset speed at the preset distance is used as the preset change distance, and this distance can also be directly measured through trial operation tests. When the adjacent distance is less than the preset change distance corresponding to the push block, it is considered that there is a collision risk between the push blocks. To avoid a collision between the two, the speed of the push block will be adjusted to the third preset speed instead of the first preset speed. Although such an adjustment will result in a relatively high speed when the push block touches the vehicle, the vehicle will still displace a certain distance under the impact, but this distance will not be large, and during the subsequent process of the push block gradually accelerating, the push block can still catch up with and continuously resist the vehicle, and can also avoid the risk of collision between the push blocks.

[0050] S103. After detecting the pressure information, gradually increase the current speed to the second preset speed, where the second preset speed is greater than the first preset speed.

[0051] In an embodiment of the present application, a pressure sensor is further provided at the front end of the pushing block. When the pushing block contacts the target vehicle, the pressure sensor will detect pressure information. The cloud server will use the pressure information as a criterion for determining whether the pushing block contacts the target vehicle. After detecting the pressure information, that is, after the two come into contact, the cloud server will control the pushing block to gradually increase its speed to a second preset speed. Through this control process, the pushing block can continuously ensure that it is pushing the target vehicle during the process of gradually increasing its speed, and finally increase the speed to the normal transportation speed, that is, after reaching the second preset speed, it runs at a constant speed, so that the pushing block can continuously contact the target vehicle during the entire pushing and transportation process, avoiding the situation where the real-time position of the target vehicle is not completely controllable due to a violent collision between the two, and ensuring the accuracy and controllability of processes such as vehicle track changing.

[0052] In an implementable manner, the gradually increasing the current speed to the second preset speed includes:

[0053] Determining a speed adjustment parameter of the pushing block per unit time based on the current track type of the pushing block;

[0054] Gradually increasing the current speed to the second preset speed based on the speed adjustment parameter.

[0055] In an embodiment of the present application, the pushing block will gradually and uniformly increase its current speed per unit time based on the speed adjustment parameter until the current speed reaches the second preset speed. According to the current position of the pushing block, the current track type of the track where the pushing block is located can be determined. Different current track types cause different frictional resistances to the pushing block, so different speed adjustment parameters can be set.

[0056] In an implementable manner, the determining a speed adjustment parameter of the pushing block per unit time based on the current track type of the pushing block includes:

[0057] Determining the current track type of the pushing block based on the current position of the pushing block;

[0058] When the current track type is a straight track, determining the speed adjustment parameter of the pushing block per unit time as a first speed adjustment parameter;

[0059] When the current track type is a curved track, determining the speed adjustment parameter of the pushing block per unit time as a second speed adjustment parameter, and the second speed adjustment parameter is greater than the first speed adjustment parameter.

[0060] In the embodiments of the present application, in the actual transportation situation, the contact area between the pushing block and the curved rail will be larger, resulting in a greater frictional resistance exerted by the rail on the pushing block. Therefore, in order to ensure that the pushing block can quickly increase its speed to the second preset speed in the actual situation, a larger speed adjustment parameter will be set at the curved rail to weaken the influence of the large frictional force at the curved rail on the speed change of the pushing block.

[0061] The following will combine with the attached Figure 2 , and will introduce in detail the control device of the pushing block on the hanging production line provided by the embodiments of the present application. It should be noted that the control device of the pushing block on the hanging production line shown in the attached Figure 2 is used to execute the method of the embodiments of the present application Figure 1 shown. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For the specific technical details not disclosed, please refer to the embodiments Figure 1 shown in the present application.

[0062] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of a control device of a pushing block on a hanging production line provided by an embodiment of the present application. As Figure 2 shown, the device includes:

[0063] A detection module 201, configured to continuously detect the target distance between the target vehicle and the pushing block, where the target vehicle is the vehicle closest to the pushing block on the moving path corresponding to the pushing block;

[0064] A first adjustment module 202, configured to adjust the current speed of the pushing block to a first preset speed when the target distance is less than a preset distance;

[0065] A second adjustment module 203, configured to gradually increase the current speed to a second preset speed after detecting pressure information, where the second preset speed is greater than the first preset speed.

[0066] In an implementable manner, the device further includes:

[0067] A third adjustment module, configured to adjust the current speed to an initial speed when the target distance is greater than the preset distance or the target vehicle cannot be detected.

[0068] In an implementable manner, the second adjustment module 203 includes:

[0069] A first determination unit, configured to determine the speed adjustment parameter of the pushing block per unit time based on the current rail type of the pushing block;

[0070] A first adjustment unit, configured to gradually increase the current speed to the second preset speed based on the speed adjustment parameter.

[0071] In an implementable embodiment, the first determination unit includes:

[0072] A first determination element for determining the current track type of the push block based on the current position of the push block;

[0073] A second determination element for, when the current track type is a straight track, determining the speed adjustment parameter of the push block within a unit time as a first speed adjustment parameter;

[0074] A third determination element for, when the current track type is a curved track, determining the speed adjustment parameter of the push block within a unit time as a second speed adjustment parameter, where the second speed adjustment parameter is greater than the first speed adjustment parameter.

[0075] In an implementable embodiment, the first adjustment module 202 includes:

[0076] A second determination unit for determining the adjacent distance between the push block and an adjacent push block, where the adjacent push block is the next push block adjacent to the push block in the reverse movement direction;

[0077] A second adjustment unit for, when the adjacent distance is less than the preset change distance corresponding to the push block, adjusting the current speed of the push block to a third preset speed, where the third preset speed is greater than the first preset speed and less than the second preset speed;

[0078] A third adjustment unit for, when the adjacent distance is not less than the preset change distance corresponding to the push block, adjusting the current speed of the push block to the first preset speed.

[0079] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented by means of software and / or hardware. The "units" and "modules" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a Field-Programmable Gate Array (FPGA), an Integrated Circuit (IC), etc.

[0080] Each processing unit and / or module of the embodiments of the present application can be implemented by an analog circuit that implements the functions described in the embodiments of the present application, or can be implemented by software that executes the functions described in the embodiments of the present application.

[0081] See Figure 3 , which shows a schematic structural diagram of an electronic device involved in the embodiments of the present application. This electronic device can be used to implement Figure 1 the method in the shown embodiment. AsFigure 3 As shown in the figure, the electronic device 300 may include: at least one central processor 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0082] Among them, the communication bus 302 is used to realize the connection and communication between these components.

[0083] Among them, the user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may further include a standard wired interface and a wireless interface.

[0084] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0085] Among them, the central processor 301 may include one or more processing cores. The central processor 301 connects various parts within the entire electronic device 300 through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling data stored in the memory 305, it executes various functions of the terminal 300 and processes data. Optionally, the central processor 301 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The central processor 301 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs, etc.; the GPU is responsible for the rendering and drawing of the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the central processor 301 and may be implemented separately by a single chip.

[0086] Among them, the memory 305 may include a Random Access Memory (RAM), or may also include a Read-Only Memory. Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area can store the data involved in the above-mentioned method embodiments. Optionally, the memory 305 may also be at least one storage device located far from the aforementioned central processing unit 301. As Figure 3 shown, the memory 305, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and program instructions.

[0087] In Figure 3 the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user to obtain the data input by the user; while the central processing unit 301 can be used to call the control application program for the pusher block stored in the memory 305 and specifically perform the following operations:

[0088] Continuously detect the target distance between the target vehicle and the pusher block, where the target vehicle is the vehicle closest to the pusher block on the moving path corresponding to the pusher block;

[0089] When the target distance is less than the preset distance, adjust the current speed of the pusher block to the first preset speed;

[0090] After detecting the pressure information, gradually increase the current speed to the second preset speed, where the second preset speed is greater than the first preset speed.

[0091] This application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, micro drives, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nano-systems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0092] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0093] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0094] In the several embodiments provided by this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some service interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0095] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] In addition, in each embodiment of this application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0097] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned memory includes: USB flash drives, read-only memory (ROM), random access memory (RAM), mobile hard disks, magnetic disks, or optical discs, etc., all of which can store program codes.

[0098] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable memory, and the memory can include: flash drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs, etc.

[0099] The above are only exemplary embodiments of the present disclosure and should not be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. After considering the specification and practicing the present disclosure, those skilled in the art will easily think of other embodiments of the present disclosure. This application aims to cover any variations, uses, or adaptive changes of the present disclosure, which follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and embodiments are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A control method for a pusher on a hanging production line, characterized in that, the method includes: continuously detecting a target distance between a target vehicle and a pusher, where the target vehicle is the vehicle closest to the pusher on the moving path corresponding to the pusher; when the target distance is less than a preset distance, adjusting the current speed of the pusher to a first preset speed; after detecting pressure information, gradually increasing the current speed to a second preset speed, where the second preset speed is greater than the first preset speed; Adjusting the current speed of the pusher to the first preset speed specifically includes: determining an adjacent distance between the pusher and an adjacent pusher, where the adjacent pusher is the next pusher adjacent to the pusher in the reverse moving direction; when the adjacent distance is less than a preset change distance corresponding to the pusher, adjusting the current speed of the pusher to a third preset speed, where the third preset speed is greater than the first preset speed and less than the second preset speed; when the adjacent distance is not less than the preset change distance corresponding to the pusher, adjusting the current speed of the pusher to the first preset speed.

2. The method according to claim 1, characterized in that, the method further includes: when the target distance is greater than the preset distance or the target vehicle cannot be detected, adjusting the current speed to an initial speed.

3. The method according to claim 1, characterized in that, gradually increasing the current speed to the second preset speed includes: determining a speed adjustment parameter of the pusher per unit time based on the current track type of the pusher; gradually increasing the current speed to the second preset speed based on the speed adjustment parameter.

4. The method according to claim 3, characterized in that, determining the speed adjustment parameter of the pusher per unit time based on the current track type of the pusher includes: determining the current track type of the pusher based on the current position of the pusher; when the current track type is a straight track, determining the speed adjustment parameter of the pusher per unit time as a first speed adjustment parameter; when the current track type is a curved track, determining the speed adjustment parameter of the pusher per unit time as a second speed adjustment parameter, where the second speed adjustment parameter is greater than the first speed adjustment parameter.

5. A control device for a pusher on a hanging production line, characterized in that, applicable to a control method for a pusher on a hanging production line as described in claim 1, and the device includes: a detection module for continuously detecting a target distance between a target vehicle and a pusher, where the target vehicle is the vehicle closest to the pusher on the moving path corresponding to the pusher; a first adjustment module for adjusting the current speed of the pusher to a first preset speed when the target distance is less than a preset distance; a second adjustment module for gradually increasing the current speed to a second preset speed after detecting pressure information, where the second preset speed is greater than the first preset speed.

6. An electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, It is characterized in that when the processor executes the computer program, the steps of the method according to any one of claims 1-4 are implemented.

7. A computer-readable storage medium, on which a computer program is stored, It is characterized in that when the computer program is executed by a processor, the steps of the method according to any one of claims 1-4 are implemented.

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