Control methods, devices, systems, equipment and media

Abstract

This application provides a control method, apparatus, system, device, and medium. The method includes: detecting the operating speed value of a target device; if the operating speed value is less than a preset value, determining first target frequency information based on a mapping relationship between duration information, error information, and frequency information; wherein the duration information represents the startup duration corresponding to the frequency information, and the error information represents the speed error corresponding to the frequency information; and sending the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information. This application can shorten the startup time of the target device and reduce the steady-state error of the target device's operating speed.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of control, in particular to a control method, device, system, equipment and medium. BACKGROUND

[0002] The sorting link of logistics objects such as packages is an important link in the logistics industry. The sorting link classifies batches of mixed packages according to destination rules, and aggregates logistics objects of each category for the next step of transportation or delivery.

[0003] The current sorting device usually includes a conveying device and a sorting device, wherein the conveying device can convey logistics objects to the corresponding sorting device according to a preset path.

[0004] In actual application, the starting time of the sorting device is long, which not only affects the working efficiency of the sorting device, but also affects the user experience. SUMMARY

[0005] Embodiments of the present application provide a control method, which can shorten the starting time of the target device and reduce the steady-state error of the running speed of the target device.

[0006] Correspondingly, the present application also provides an electronic device and a storage medium to ensure the implementation and application of the above system.

[0007] In order to solve the above problems, the present application discloses a control method, which comprises:

[0008] detecting a running speed value of a target device;

[0009] In the case where the running speed value is less than a preset value, determining first target frequency information according to a mapping relationship among time length information, error information and frequency information; the time length information represents a starting time length corresponding to the frequency information, and the error information represents a speed error corresponding to the frequency information;

[0010] sending the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information.

[0011] In order to solve the above problems, the present application discloses a control device, which comprises:

[0012] a speed detection module for detecting a running speed value of a target device;

[0013] The first frequency determining module is configured to determine first target frequency information according to a mapping relationship among time length information, error information and frequency information when the running speed value is less than the preset value.

[0014] The first sending module is configured to send the first target frequency information to the driving device, so that the driving device drives the target device according to the first target frequency information.

[0015] To solve the above problems, the embodiment of the present application discloses a sorting system, comprising: a control device, a driving device and a conveying device.

[0016] The conveying device is configured to convey a logistics object.

[0017] The control device is configured to detect a running speed value of the conveying device, determine first target frequency information according to a mapping relationship among time length information, error information and frequency information when the running speed value is less than a preset value, and send the first target frequency information to the driving device, so that the driving device drives the conveying device according to the first target frequency information.

[0018] To solve the above problems, the embodiment of the present application discloses an electronic device, comprising: a processor; and a memory having executable code stored thereon, when the executable code is executed, the processor executes the method as described in one or more of the above embodiments.

[0019] To solve the above problems, the embodiment of the present application discloses one or more machine-readable media having executable code stored thereon, when the executable code is executed, the processor executes the method as described in one or more of the above embodiments.

[0020] Compared with the prior art, the embodiment of the present application has the following advantages:

[0021] The embodiment of the present application determines the first target frequency information from the frequency information of the mapping relationship according to the time length information and the error information corresponding to the frequency information in the mapping relationship when the running speed value is less than the preset value, and sends the first target frequency information to the driving device, so that the driving device drives the target device according to the first target frequency information.

[0022] Since the embodiment of the present application utilizes the time length information and the error information corresponding to the frequency information in the process of determining the first target frequency information, the embodiment of the present application can select the first target frequency information that meets the requirements of the time length information and the error information; therefore, the embodiment of the present application can shorten the starting time of the target device and reduce the steady-state error of the running speed of the target device. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1A 、 Figure 1B are respectively a structural schematic diagram of a sorting device according to an embodiment of the present application;

[0024] Figure 2 is a structural schematic diagram of a sorting device according to an embodiment of the present application;

[0025] Figure 3 is a structural schematic diagram of another sorting device according to an embodiment of the present application;

[0026] Figure 4 is a step flow chart of a control method according to an embodiment of the present application;

[0027] Figure 5 is a flow schematic diagram of a control method according to an embodiment of the present application;

[0028] Figure 6 is a schematic of frequency information and running speed value change data over time according to an embodiment of the present application;

[0029] Figure 7 is a flow schematic diagram of a control method according to an embodiment of the present application;

[0030] Figure 8A 、 Figure 8B 、 Figure 8C are respectively a schematic of frequency information and running speed value change data over time according to an embodiment of the present application;

[0031] Figure 9 is a flow schematic diagram of a control method according to an embodiment of the present application;

[0032] Figure 10 is a structural schematic diagram of a control device according to an embodiment of the present application;

[0033] Figure 11 is a structural schematic diagram of a sorting system according to an embodiment of the present application;

[0034] Figure 12 is a structural schematic diagram of an exemplary device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the above objectives, features and advantages of the present application more apparent, more comprehensible and more obvious, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0036] Embodiments of the present application can be applied to application scenarios corresponding to a target device and a driving device. The target device can have a motion characteristic, and the driving device can be used to drive the target device. The driving device can include, but is not limited to, a motor, an electric roller, and the like. In a sorting scenario of a logistics object, the target device can be a transmission device.

[0037] The type of the sorting device can include a cross-belt type, a swing wheel type, a swing arm type, a sliding block type, and the like. It can be understood that embodiments of the present application do not limit the specific type of the sorting device.

[0038] The cross-belt sorting device specifically includes a main drive belt conveyor and a trolley carrying a small belt conveyor. In the case where the trolley moves to a specified sorting position, the belt is rotated to complete the task of sorting and delivering the logistics object. Because the main drive belt conveyor and the belt conveyor on the trolley are in a cross shape, it is called a cross-belt sorting machine.

[0039] Referring to Figure 1A and Figure 1B , respectively, a structure diagram of a sorting device according to an embodiment of the present application is shown. The sorting device specifically includes a conveying device 101 and a sorting device 102. The conveying device 201 can be driven by a driving device (not shown in the figure) to convey the logistics object 103 to the corresponding sorting device 102 according to a preset path. In addition, the feeding table 104 can provide the logistics object 103 to the conveying device 101. In actual application, the speed V of the conveying device 101 in the main ring direction has a significant impact on the working efficiency of the sorting device.

[0040] Referring to Figure 2 , a structure diagram of a sorting device according to an embodiment of the present application is shown. The sorting device specifically includes a conveying device 201 and a sorting device 202. The conveying device 201 can be driven by a driving device (not shown in the figure) to convey the logistics object to the corresponding sorting device 202 according to a preset path.

[0041] The sorting device 202 is connected to the sorting table B via a chute A, and is used to slide the logistics object into the sorting table B through the chute A. It can be understood that embodiments of the present application do not limit the specific connection mode between the sorting device 202 and the sorting table B.

[0042] Referring to Figure 3 , a structure diagram of another sorting device according to an embodiment of the present application is shown. The sorting device specifically can include a sorting table 11, a conveying device 12, and a sorting port 13. The state of the sorting port 13 can include an open state or a closed state. The path of the conveying device 12 can be planned according to the setting of the sorting port 13 on the sorting table 11 and the target sorting port to which the conveying device 12 goes. It is assumed that the path planned for the conveying device 12 isFigure 3 If the target sorting port is in the open state, the logistics object can be delivered into the collection device.

[0043] In an embodiment of the present application, optionally, the sorting of the logistics object can be performed according to the information such as the item category and / or the destination address corresponding to the logistics object. For example, in the logistics scenario, the destination address can represent the destination of the logistics, and the sorting of the logistics object can be performed according to the destination address corresponding to the logistics object, so that the same destination address corresponds to the same sorting device / sorting table. It can be understood that the specific sorting manner is not limited in the embodiment of the present application.

[0044] It can be understood that the sorting scenario of the logistics object is only an example of the application scenario of the embodiment of the present application, and in fact, the embodiment of the present application can also be applied to other application scenarios, such as the luggage conveying scenario in the airport, the conveying scenario of industrial goods, the elevator scenario, etc. In other words, the target device of the embodiment of the present application can be any driven device, and the specific target device is not limited in the embodiment of the present application.

[0045] In the related art, the PID (Proportion Integral Differential) algorithm is usually used to control the speed of the target device and the driving device. The PID algorithm controls the driving device according to the difference information between the running speed value and the actual speed value of the target device. In the starting phase of the target device, the PID algorithm is used to control the speed of the target device and the driving device, which usually takes a long time to make the speed of the target device tend to be stable, and therefore, the related art has the technical problem of long starting time of the target device.

[0046] In order to shorten the starting time of the target device, an embodiment of the present application provides a control method, which specifically includes: detecting a running speed value of a target device; in the case that the running speed value is less than a preset value, determining first target frequency information according to a mapping relationship among time length information, error information and frequency information; and sending the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information.

[0047] In the embodiment of the present application, the time length information can represent the starting time length corresponding to the frequency information, that is, the starting time length consumed by the target device when the driving device drives the target device according to the frequency information. The error information can represent the speed error corresponding to the frequency information, that is, the steady-state error of the running speed of the target device when the driving device drives the target device according to the frequency information.

[0048] In the embodiment of the present application, when the running speed value is less than the preset value, the first target frequency information is determined from the frequency information in the mapping relationship according to the time length information and the error information corresponding to the frequency information in the mapping relationship, and the first target frequency information is sent to the driving device, so that the driving device drives the target device according to the first target frequency information.

[0049] In the process of determining the first target frequency information, the time length information and the error information corresponding to the frequency information are used in the embodiment of the present application, so that the first target frequency information meeting the requirements in terms of the time length information and the error information can be selected; therefore, the starting time of the target device can be shortened, and the steady-state error of the running speed of the target device can be reduced.

[0050] Method embodiment one

[0051] Reference Figure 4 Fig. 1 shows a step flowchart of a control method according to an embodiment of the present application, which can specifically include the following steps:

[0052] Step 401: detecting a running speed value of a target device;

[0053] Step 402: when the running speed value is less than a preset value, determining first target frequency information according to a mapping relationship among time length information, error information and frequency information;

[0054] Step 403: sending the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information.

[0055] Figure 2 The method shown can be executed by a control device. The control device can play a control role of the target device and the driving device and the like, and thus the motion control of the target device can be realized. In actual application, the control device can include a CPU, an MCU (microcontroller unit) and the like, which can directly or indirectly send an instruction to the driving device, and the instruction can carry the first target frequency information to realize the control of the driving device. It can be understood that the specific execution subject of the method shown is not limited in the embodiment of the present application. Figure 2 The specific execution subject of the method shown is not limited in the embodiment of the present application.

[0056] In step 401, the driving device and the target device can be started, and during the running of the target device, the running speed value of the target device can be detected according to a preset period. For example, at least one speed detection module can be arranged on the target device, so as to detect the running speed value of the target device via the speed detection module. The preset period can be determined by those skilled in the art according to actual application requirements, for example, the time unit corresponding to the preset period is second or minute, etc. It can be understood that the specific detection method of the running speed value is not limited in the embodiments of the present application.

[0057] In step 402, the preset value can be a value set according to the target speed value. The target speed value can represent the ideal speed value corresponding to the target device, that is, the speed value meeting the requirements corresponding to the target device. The preset value can be the same as or close to the target speed value. For example, the preset value is less than the target speed value, the difference between the preset value and the target speed value is less than a difference threshold, etc.

[0058] The embodiments of the present application can pre-establish the mapping relationship among the time length information, the error information and the frequency information. In specific implementation, the driving device can support the adjustment of the frequency information. For example, the driving device can be a variable frequency motor, or the driving device can include a motor and a corresponding frequency converter.

[0059] In actual application, at least one frequency information can be set, and the driving device and the target device can be tested and run under the condition of one frequency information, so as to obtain the time length information and the error information.

[0060] Specifically, the timer can be used to start timing from the start time of the driving device and the target device, or the time of sending the frequency information to the driving device, and stop timing in the case that the number of times that the running speed value of the target device reaches or exceeds the preset value is greater than a number threshold, or the time length that the running speed value of the target device reaches or exceeds the preset value exceeds a time length threshold, so as to obtain the time length information according to the timing result of the timer.

[0061] In the case that the running speed value of the target device reaches the preset value, the upper limit value and the lower limit value of the running speed can be obtained, and the error information can be determined according to the difference between the upper limit value and the lower limit value of the running speed. Or, in the case that the running speed value of the target device reaches the preset value, the upper limit value of the running speed can be obtained, and the error information can be determined according to the difference between the upper limit value and the preset value of the running speed.

[0062] According to the above method, the time length information and the error information can be obtained under the condition of the frequency information; thus, the frequency information and the corresponding time length information and error information can be saved as a data record of the mapping relationship. On this basis, the frequency information can be replaced, and the driving device and the target device are tested and run according to the replaced frequency information to obtain another data record.

[0063] Referring to Table 1, a schematic of a mapping relationship of an embodiment of the present application is shown. It can be understood that the mapping relationship of the embodiment of the present application can correspond to one or more data records, and the embodiment of the present application does not limit the specific number of data records corresponding to the mapping relationship.

[0064] Table 1

[0065] Frequency information Duration information Error information A1 Hz B1 seconds C1 meters / second A2 Hz B2 seconds C2 meters / second …… …… ……

[0066] In actual operation, the running speed value of the target device can be detected, and in the case that the running speed value is less than the preset value, the first target frequency information is determined according to the mapping relationship between the time length information, the error information and the frequency information.

[0067] In an implementation manner, the first target frequency information matched with the set time length information and the set error information can be obtained by searching in the mapping relationship according to the set time length information and the set error information.

[0068] The set time length information can represent the time length information meeting the requirements, which can be a numerical value or a numerical range. For the sake of convenience, the set time length information can correspond to the first numerical range. Similarly, the set error information can represent the error information meeting the requirements, which can be a numerical value or a numerical range. For the sake of convenience, the set error information can correspond to the second numerical range.

[0069] In the searching process in the mapping relationship, the first numerical range corresponding to the set time length information can be matched with the time length information, and the second numerical range corresponding to the set error information can be matched with the error information, so that the first target frequency information matched with the set time length information and the set error information can be obtained. In the case that the number of the first target frequency information matched with the set time length information and the set error information is multiple, the multiple first target frequency information can be screened according to the first matching degree between the set time length information and the time length information, and / or the second matching degree between the set error information and the error information, so that a target frequency information can be obtained.

[0070] In step 403, the instruction can be directly or indirectly sent to the driving device, and the instruction can carry the first target frequency information to realize the control of the driving device.

[0071] In summary, the control method of the embodiment of the application determines the first target frequency information from the frequency information of the mapping relationship according to the time length information and the error information corresponding to the frequency information in the mapping relationship when the running speed value is less than the preset value, and sends the first target frequency information to the driving device, so that the driving device drives the target device according to the first target frequency information.

[0072] Since the embodiment of the application utilizes the time length information and the error information corresponding to the frequency information in the process of determining the first target frequency information, the embodiment of the application can select the first target frequency information that meets the requirements of the time length information and the error information, so that the embodiment of the application can shorten the starting time of the target device and reduce the steady-state error of the running speed of the target device.

[0073] Method embodiment two

[0074] Reference Figure 5 Fig. 1 shows a step flowchart of a control method according to an embodiment of the application, which can specifically include the following steps:

[0075] Step 501, detecting a running speed value of a target device;

[0076] Step 502, determining first target frequency information according to a mapping relationship between time length information, error information and frequency information when the running speed value is less than a preset value;

[0077] Step 503, sending the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information;

[0078] Compared with Figure 4 the method embodiment one, the method of the embodiment can further include:

[0079] Step 504, determining third target frequency information according to difference information between the running speed value and a target speed value when the running speed value is greater than or equal to the preset value;

[0080] Step 505, sending the third target frequency information to the driving device, so that the driving device drives the target device according to the third target frequency information.

[0081] In this embodiment of the application, when the running speed value is greater than or equal to a preset value, the third target frequency information is determined based on the difference information between the running speed value and the target speed value, and then sent to the drive device for execution, so that the running speed value of the target device reaches the target speed value and tends to stabilize.

[0082] In practical applications, PID algorithms can be used to determine the third target frequency information, thereby reducing the difference between the running speed value and the target speed value, and thus improving the stability of the running speed value of the target device.

[0083] In its specific implementation, the PID algorithm includes a proportional element, an integral element, and a derivative element. Any one or a combination of the proportional, integral, and derivative elements can be used to determine the third target frequency information.

[0084] It is understood that the PID algorithm is only an optional embodiment of the control algorithm. In fact, the embodiments of this application do not limit the specific control algorithm. For example, those skilled in the art can use control algorithms such as LQR linear quadratic regulator and MPC (model predictive control) according to actual application needs, and determine the third target frequency information based on the difference information between the running speed value and the target speed value, so as to improve the stability of the running speed value of the target device.

[0085] Reference Figure 6 This illustration shows a schematic diagram of frequency information and operating speed value changing over time according to an embodiment of this application. At time T=0, the drive device and the target device are started. In this case, according to steps 501 to 503, the drive device can be controlled to operate according to the first target frequency information, so that the operating speed value of the target device quickly reaches the preset value.

[0086] When the operating speed value is greater than or equal to a preset value, for example, at time T=T1, according to steps 504 to 505, the drive device can be controlled to operate according to the third target frequency information, so that the operating speed value of the target device is stabilized near the target speed value. It can be understood that... Figure 6 The linear relationship between the third target frequency information and time information is just an example; in reality, the relationship between the third target frequency information and time information can also be non-linear.

[0087] In summary, the control method of this application embodiment, when the running speed value is greater than or equal to a preset value, determines the third target frequency information based on the difference information between the running speed value and the target speed value, and sends it to the drive device for execution, so that the running speed value of the target device reaches the target speed value and tends to stabilize, thereby improving the stability of the running speed value of the target device.

[0088] Method Example 3

[0089] Reference Figure 7 The diagram illustrates a flowchart of a control method according to an embodiment of this application, which may specifically include the following steps:

[0090] Step 701: Detect the operating speed value of the target device;

[0091] Step 702: If the running speed value is less than the preset value, determine the first target frequency information based on the mapping relationship between the duration information, error information and frequency information;

[0092] Step 703: Send the first target frequency information to the driving device so that the driving device drives the target device according to the first target frequency information;

[0093] Compared to Figure 4 The method shown in Embodiment 1 may further include:

[0094] Step 704: Identify the first drive unit that is malfunctioning;

[0095] Step 705: Determine the second target frequency information based on the information of the second driving device and the first target frequency information; the second driving device may be different from the first driving device.

[0096] Step 706: Send the second target frequency information to the second driving device so that the driving device drives the target device according to the second target frequency information.

[0097] This application embodiment identifies a faulty first drive device, and then identifies a fault-free second drive device. Based on this, according to the information of the second drive device and the first target frequency information, second target frequency information is determined, and then the drive device is controlled to operate according to the second target frequency information.

[0098] Since the embodiments of this application determine the second target frequency information based on the information of the second drive device that is free from faults, the determined second target frequency information can be matched with the information of the second drive device, thereby enabling the control device to have fault-tolerant control capabilities for drive device faults. Furthermore, based on the update of the frequency information, the drive device can automatically recover stable operation, thereby improving the operating efficiency of the target device in the corresponding application scenario.

[0099] In practical applications, the presence of a fault in the drive device can be determined based on the signal output by the drive device. It is understood that the embodiments of this application do not limit the specific method for determining whether the drive device is faulty.

[0100] Step 705 can be used to update frequency information when a drive device malfunction is detected. The frequency information update can correspond to a trigger condition. This trigger condition can be that the number of the first drive devices meets a preset condition and the operating speed value is less than a preset value; in other words, if the number of the first drive devices meets the preset condition and the operating speed value is less than a preset value, the second target frequency information can be determined based on the number of the second drive devices and the first target frequency information.

[0101] The number of first drive devices meeting preset conditions may include: the number of first drive devices being less than a quantity threshold, or the first ratio of the number of first drive devices to the total number of drive devices being less than a proportion threshold. This preset condition indicates that the proportion of faulty drive devices is small, thus enabling the drive devices to automatically recover stable operation based on frequency information updates.

[0102] Since the frequency information can be adjusted using algorithms such as PID when the running speed value is equal to or greater than the preset value, the embodiments of this application can use the running speed value being less than the preset value as the trigger condition for updating the frequency information.

[0103] The specific process of determining the second target frequency information may include: adjusting the first target frequency information based on the information of the second driving device to obtain the second target frequency information. The information of the second driving device may include information such as the number of second driving devices. Specifically, an adjustment amount may be added to the first target frequency information based on a second ratio of the number of second driving devices to the total number. Generally, the larger the second ratio, the smaller the corresponding adjustment amount. Optionally, the adjustment amount may be determined based on the reciprocal of the second ratio and the first target frequency information. For example, first determine the product of the reciprocal of the second ratio and the first target frequency information, and then determine the adjustment amount based on the difference between the product and the first target frequency information.

[0104] In practical applications, the adjustment amount can be increased through one or more adjustments. For example, the first adjustment amount can be added based on the first target frequency information, and it can be determined whether the running speed value is less than the preset value. If so, a second adjustment amount can be added based on the current target frequency information; otherwise, the adjustment can be terminated. In other words, multiple adjustment amounts can be added based on the current target frequency information until the running speed value is greater than the preset value.

[0105] It is understandable that other actions can be taken if the triggering conditions are not met. For example, if the number of the first drive devices does not meet the preset conditions, a fault message corresponding to the first drive device can be output to prompt the user to inspect the first drive device. Alternatively, the drive devices and the target device can be shut down, etc.

[0106] Of course, even if the number of first drive devices meets the preset conditions, fault prompt information corresponding to the first drive device can be output to prompt the user to inspect the first drive device. In other words, the embodiments of this application can identify the faulty first drive device and output the corresponding fault prompt information.

[0107] When the operating speed value is equal to or greater than the preset value, the third target frequency information can be determined based on the difference between the operating speed value and the target speed value, and the third target frequency information can be sent to the drive device.

[0108] It should be noted that the frequency before the update corresponding to step 705 can be the first target frequency information. (Refer to...) Figure 8A This illustration shows a schematic representation of frequency information and operating speed value changes over time according to an embodiment of this application. At time T=0, the drive device and the target device are started. In this case, steps 701 to 703 can be used to control the drive device to operate according to the first target frequency information, so that the operating speed value of the target device quickly reaches a preset value. Assuming that a fault is detected in the first drive device at time T=T2, steps 704 to 706 can be used to control the drive device to operate according to the second target frequency information.

[0109] The frequency before the update corresponding to step 705 can be the third target frequency information. (Refer to...) Figure 8BThis illustration shows a schematic representation of frequency information and operating speed value changes over time according to an embodiment of this application. At time T=0, the drive device and the target device are started. In this case, steps 701 to 703 can be used to control the drive device to operate according to the first target frequency information, so that the operating speed value of the target device quickly reaches a preset value. Assuming that at time T=T1, steps 504 to 505 can be used to control the drive device to operate according to the third target frequency information, so that the operating speed value of the target device stabilizes near the target speed value. Assuming that at time T=T3, a fault is detected in the first drive device, steps 704 to 706 can be used to control the drive device to operate according to the second target frequency information, so that the operating speed value of the target device reaches the preset value.

[0110] It should be noted that, after controlling the operating speed of the target device to near a preset value based on the second target frequency information, steps 504 to 505 can also be used to control the drive device to operate according to the third target frequency information, so that the operating speed of the target device is stabilized near the target speed value. (Refer to...) Figure 8C , its in Figure 8B Based on this, at time T=T4, according to steps 504 to 505, the control drive device is operated according to the third target frequency information.

[0111] Therefore, in this embodiment of the application, if the running speed value is less than the preset value, it can be determined whether it is in the startup phase. If so, the drive device can be controlled according to the first target frequency information according to steps 702 and 703; otherwise, the drive device can be controlled according to the second target frequency information according to steps 705 and 706.

[0112] In this embodiment of the application, when the running speed value is greater than or equal to the preset value, the drive device can be controlled according to the third target frequency information in steps 502 to 503.

[0113] In summary, the control method of this application determines the second target frequency information based on the information of the second drive device that is free from faults. Therefore, it enables the determined second target frequency information to match the information of the second drive device, thereby giving the control device fault-tolerant control capability in the event of drive device failure. Furthermore, based on the update of the frequency information, the drive device can automatically recover stable operation, thereby improving the operating efficiency of the target device in the corresponding application scenario.

[0114] Method Example 4

[0115] Reference Figure 9 The diagram illustrates a flowchart of a control method according to an embodiment of this application, which may specifically include the following steps:

[0116] Step 901: Detect the operating speed value of the target device;

[0117] Step 902: If the running speed value is less than the preset value, determine the first target frequency information based on the mapping relationship between the duration information, error information and frequency information;

[0118] Step 903: Send the first target frequency information to the driving device so that the driving device drives the target device according to the first target frequency information;

[0119] Compared to Figure 4 The method shown in Embodiment 1 may further include:

[0120] Step 904: Identify the first drive unit that is malfunctioning;

[0121] Step 905: Determine whether the running speed value is less than the preset value. If yes, proceed to step 906; otherwise, proceed to step 908.

[0122] Step 906: Determine the second target frequency information based on the information of the second driving device and the first target frequency information; the second driving device may be different from the first driving device;

[0123] Step 907: Send the second target frequency information to the second driving device so that the driving device drives the target device according to the second target frequency information;

[0124] Step 908: Determine the third target frequency information based on the difference between the running speed value and the target speed value;

[0125] Step 909: Send the third target frequency information to the driving device so that the driving device drives the target device according to the third target frequency information.

[0126] In summary, the embodiments of this application provide a control method with fault tolerance capability. During startup, controlling the drive device based on the first target frequency information can shorten startup time. During fault conditions, controlling the drive device based on the second target frequency information can shorten fault recovery time. After startup or fault recovery, if the operating speed value is greater than or equal to a preset value, the drive device can be controlled based on the difference between the operating speed value and the target speed value, according to the third target frequency information, thereby improving the speed stability of the target device.

[0127] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of this application.

[0128] Based on the above embodiments, this embodiment also provides a control device, referring to... Figure 10 Specifically, it can include the following modules:

[0129] Speed ​​detection module 1001 is used to detect the operating speed value of the target device;

[0130] The first frequency determination module 1002 is used to determine the first target frequency information based on the mapping relationship between duration information, error information and frequency information when the running speed value is less than a preset value.

[0131] The first transmitting module 1003 is used to transmit the first target frequency information to the driving device so that the driving device drives the target device according to the first target frequency information.

[0132] Optionally, the device may further include:

[0133] The fault detection module is used to identify the first drive unit that has a fault.

[0134] The second frequency determination module is used to determine the second target frequency information based on the information of the second driving device and the first target frequency information; the second driving device is different from the first driving device.

[0135] The second transmitting module is used to transmit the second target frequency information to the second driving device, so that the driving device drives the target device according to the second target frequency information.

[0136] Optionally, the second frequency determination module may include:

[0137] The adjustment module is used to adjust the first target frequency information according to the information from the second driving device to obtain the second target frequency information.

[0138] Optionally, the second frequency determination module is specifically used to determine the second target frequency information based on the number of the second drive devices and the first target frequency information if the number of the first drive devices meets the preset conditions and the running speed value is less than the preset value.

[0139] Optionally, the device may further include:

[0140] The fault detection module is used to identify the first drive unit that has a fault.

[0141] The prompt module is used to output fault prompt information corresponding to the first drive device.

[0142] Optionally, the device may further include:

[0143] The third frequency determination module is used to determine the third target frequency information based on the difference between the running speed value and the target speed value when the running speed value is greater than or equal to a preset value.

[0144] The third transmitting module is used to send the third target frequency information to the driving device so that the driving device drives the target device according to the third target frequency information.

[0145] Based on the above embodiments, this embodiment also provides a sorting system, referring to... Figure 11 Specifically, it may include: a control device 1101, a drive device 1102, and a transmission device 1103;

[0146] Among them, the conveying device 1103 is used to convey logistics objects;

[0147] The control device 1101 is used to detect the operating speed value of the transmission device 1103; when the operating speed value is less than a preset value, it determines the first target frequency information according to the mapping relationship between duration information, error information and frequency information, and sends the first target frequency information to the drive device 1102, so that the drive device 1102 drives the transmission device 1103 according to the first target frequency information.

[0148] This application also provides a non-volatile readable storage medium storing one or more modules (programs). When these modules are applied to a device, they enable the device to execute the instructions for the method steps in this application.

[0149] This application provides one or more machine-readable media storing instructions that, when executed by one or more processors, cause an electronic device to perform one or more of the methods described in the above embodiments. In this application, the electronic device includes devices such as servers and terminal devices.

[0150] Embodiments of this disclosure can be implemented as an apparatus with any suitable hardware, firmware, software, or any combination thereof, configured as desired, and the apparatus may include electronic devices such as servers (clusters) and terminals. Figure 12An exemplary apparatus 1300 is schematically shown that can be used to implement the various embodiments described in this application.

[0151] In one embodiment, Figure 12 An exemplary device 1300 is shown, which includes one or more processors 1302, a control module (chipset) 1304 coupled to at least one of the processors 1302, a memory 1306 coupled to the control module 1304, a non-volatile memory (NVM) / storage device 1308 coupled to the control module 1304, one or more input / output devices 1310 coupled to the control module 1304, and a network interface 1312 coupled to the control module 1304.

[0152] Processor 1302 may include one or more single-core or multi-core processors, and processor 1302 may include any combination of general-purpose processors or special-purpose processors (e.g., graphics processors, application processors, baseband processors, etc.). In some embodiments, device 1300 can serve as a server, terminal, or other device as described in the embodiments of this application.

[0153] In some embodiments, apparatus 1300 may include one or more computer-readable media (e.g., memory 1306 or NVM / storage device 1308) having instructions 1314 and one or more processors 1302 that are combined with the one or more computer-readable media and configured to execute instructions 1314 to implement modules and thus perform the actions described in this disclosure.

[0154] In one embodiment, the control module 1304 may include any suitable interface controller to provide any suitable interface to at least one of the processors 1302 and / or any suitable device or component communicating with the control module 1304.

[0155] The control module 1304 may include a memory controller module to provide an interface to the memory 1306. The memory controller module may be a hardware module, a software module, and / or a firmware module.

[0156] Memory 1306 may be used, for example, to load and store data and / or instructions 1314 for device 1300. In one embodiment, memory 1306 may include any suitable volatile memory, such as suitable DRAM. In some embodiments, memory 1306 may include double data rate type quad synchronous dynamic random access memory (DDR4 SDRAM).

[0157] In one embodiment, the control module 1304 may include one or more input / output controllers to provide interfaces to the NVM / storage device 1308 and (one or more) input / output devices 1310.

[0158] For example, NVM / storage device 1308 may be used to store data and / or instructions 1314. NVM / storage device 1308 may include any suitable non-volatile memory (e.g., flash memory) and / or may include any suitable (one or more) non-volatile storage devices (e.g., one or more hard disk drives (HDDs), one or more optical disc drives (CDs), and / or one or more digital universal optical disc (DVD) drives).

[0159] NVM / storage device 1308 may include storage resources that are part of a device on which device 1300 is mounted, or that are accessible by the device but do not necessarily have to be part of the device. For example, NVM / storage device 1308 may be accessed via a network via one or more input / output devices 1310.

[0160] One or more input / output devices 1310 may provide an interface for device 1300 to communicate with any other suitable device. Input / output devices 1310 may include communication components, audio components, sensor components, etc. Network interface 1312 may provide an interface for device 1300 to communicate via one or more networks. Device 1300 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and / or protocols, such as accessing wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G, 5G, etc., or combinations thereof.

[0161] In one embodiment, at least one of the processors 1302 may be logically packaged with one or more controllers (e.g., memory controller modules) of the control module 1304. In one embodiment, at least one of the processors 1302 may be logically packaged with one or more controllers of the control module 1304 to form a system-in-package (SiP). In one embodiment, at least one of the processors 1302 may be integrated with the logic of one or more controllers of the control module 1304 on the same die. In one embodiment, at least one of the processors 1302 may be integrated with the logic of one or more controllers of the control module 1304 on the same die to form a system-on-a-chip (SoC).

[0162] In various embodiments, device 1300 may be, but is not limited to, a server, desktop computing device, or mobile computing device (e.g., laptop computing device, handheld computing device, tablet computer, netbook, etc.). In various embodiments, device 1300 may have more or fewer components and / or different architectures. For example, in some embodiments, device 1300 includes one or more cameras, a keyboard, a liquid crystal display (LCD) screen (including a touchscreen display), a non-volatile memory port, multiple antennas, a graphics chip, an application-specific integrated circuit (ASIC), and a speaker.

[0163] The device can use a main control chip as a processor or control module, and sensor data, location information, etc. can be stored in a memory or NVM / storage device. The sensor group can be used as an input / output device, and the communication interface can include a network interface.

[0164] This application also provides an electronic device, including: a processor; and a memory storing executable code thereon, which, when executed, causes the processor to perform one or more methods as described in this application.

[0165] This application also provides one or more machine-readable media having executable code stored thereon, which, when executed, causes a processor to perform one or more of the methods described in this application.

[0166] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0167] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0168] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable exception handling terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable exception handling terminal device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0169] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable exception handling terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0170] These computer program instructions may also be loaded onto a computer or other programmable exception handling terminal device to cause a series of operational steps to be performed on the computer or other programmable terminal device to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal device, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0171] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0172] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0173] The control method, control device, electronic device, and storage medium provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method, characterized in that, The method includes: The operating speed of the target device is detected; When the operating speed value is less than a preset value, a first target frequency information is determined based on the mapping relationship between duration information, error information, and frequency information. The duration information represents the start-up duration corresponding to the frequency information, and the error information represents the speed error corresponding to the frequency information. Specifically, a search is performed in the mapping relationship based on the set duration information and the set error information to obtain the first target frequency information that matches the set duration information and the set error information. The process of establishing the mapping relationship includes: testing the drive device and the target device under one frequency information condition to obtain duration information and error information; saving the frequency information and its corresponding duration information and error information as a data record of the mapping relationship; changing the frequency information; testing the drive device and the target device based on the changed frequency information to obtain another data record of the mapping relationship; sending the first target frequency information to the drive device so that the drive device drives the target device according to the first target frequency information; the drive device includes: a variable frequency motor, or a motor and a variable frequency drive corresponding to the motor.

2. The method according to claim 1, characterized in that, The method further includes: The first drive unit was identified as having a fault. The second target frequency information is determined based on the information from the second driving device and the first target frequency information; the second driving device is different from the first driving device. The second target frequency information is sent to the second driving device so that the second driving device drives the target device according to the second target frequency information.

3. The method according to claim 2, characterized in that, The step of determining the second target frequency information based on the information from the second driving device and the first target frequency information includes: Based on the information from the second driving device, the first target frequency information is adjusted to obtain the second target frequency information.

4. The method according to claim 2, characterized in that, The step of determining the second target frequency information based on the information from the second driving device and the first target frequency information includes: If the number of the first driving devices meets the preset conditions and the operating speed value is less than the preset value, then the second target frequency information is determined based on the number of the second driving devices and the first target frequency information.

5. The method according to claim 1, characterized in that, The method further includes: The first drive unit was identified as having a fault. Output the fault message corresponding to the first drive device.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: If the operating speed value is greater than or equal to a preset value, the third target frequency information is determined based on the difference between the operating speed value and the target speed value. The third target frequency information is sent to the driving device so that the driving device drives the target device according to the third target frequency information.

7. A control device, characterized in that, The device includes: The detection module is used to detect the operating speed of the target device. A first frequency determination module is used to determine a first target frequency information based on the mapping relationship between duration information, error information, and frequency information when the running speed value is less than a preset value. Specifically, it searches within the mapping relationship based on set duration information and set error information to obtain first target frequency information that matches the set duration information and the set error information. The process of establishing the mapping relationship includes: testing the drive device and the target device under one frequency information condition to obtain duration information and error information; saving the frequency information and its corresponding duration information and error information as a data record of the mapping relationship; changing the frequency information; and testing the drive device and the target device based on the changed frequency information to obtain another data record of the mapping relationship. A first transmitting module is configured to transmit the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information; the driving device includes: a variable frequency motor, or a motor and a variable frequency drive corresponding to the motor.

8. A sorting system, characterized in that, include: Control device, drive device and transmission device; The conveying device is used to convey logistics objects; The control device is used to detect the operating speed value of the conveying device; when the operating speed value is less than a preset value, it determines a first target frequency information according to the mapping relationship between duration information, error information, and frequency information, and sends the first target frequency information to the drive device so that the drive device drives the conveying device according to the first target frequency information; the drive device includes: a variable frequency motor, or a motor and a frequency converter corresponding to the motor; wherein, according to the set duration information and the set error information, a search is performed in the mapping relationship to obtain the first target frequency information that matches the set duration information and the set error information; the process of establishing the mapping relationship includes: under the condition of one frequency information, the drive device and the target device are tested and run to obtain duration information and error information, and the frequency information and its corresponding duration information and error information are saved as a data record of the mapping relationship; the frequency information is changed, and the drive device and the target device are tested and run according to the changed frequency information to obtain another data record of the mapping relationship.

9. An electronic device, characterized in that, include: processor; and A memory having executable code stored thereon, which, when executed, causes the processor to perform the method as described in one or more of claims 1-6.

10. One or more machine-readable media having executable code stored thereon, which, when executed, causes a processor to perform the method as described in one or more of claims 1-6.

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