Motion planning method and device for mobile equipment in magnetic levitation conveying system

Abstract

The present application relates to a motion planning method, device, electronic device, storage medium and computer program product for a mobile device in a magnetic levitation conveying system. The method obtains the initial speed of the starting position of the mobile device entering a target area, and then determines the center of mass linear speed of the mobile device on the arc segment guide rail according to the initial speed and the arc radius of the configured arc segment guide rail and the center of mass radius of the target object, obtains the first target driving time for the target area, and determines the target speed data according to the first target driving time, the center of mass linear speed and the initial speed to control the position and speed of the mobile device during the transition process, thereby optimizing the dynamic performance of the mobile device and improving the stability and operation efficiency of the mobile device.

Description

Technical Field

[0001] The present application relates to the field of magnetic levitation transportation technology, and in particular to a motion planning method, device, electronic equipment, storage medium and computer program product for a mobile device in a magnetic levitation transportation system. Background Art

[0002] The magnetic levitation conveying system is a new type of conveying technology that uses a magnetic levitation device between a mobile device and a track to achieve automatic material transportation. This technology uses a magnetic field to maintain the movement of the mobile device on the track, which can eliminate friction in traditional mechanical transmission methods to improve transportation efficiency and reduce wear. However, in the process of the mobile device moving from a straight section of the track to a curved section (such as an arc section) or leaving a curved section, due to the difference in track states between the straight section and the curved section, the mobile device will be subject to different mechanical constraints and friction when switching between the two track states, making the mobile device unstable and easily causing the transported materials to deviate, block or fall off, thereby affecting the operating efficiency.

[0003] In the related art, mechanical guide devices are generally added to control the movement of mobile devices on curves or bends to improve the stability of mobile devices. However, mechanical guide devices usually require additional power to maintain movement and require regular maintenance and upkeep, which increases energy consumption and operation and maintenance costs. Summary of the invention

[0004] Based on this, it is necessary to provide a motion planning method, device, electronic device, storage medium and computer program product for a mobile device in a magnetic levitation transportation system that can improve stability and operating efficiency in response to the above technical problems.

[0005] In a first aspect, the present application provides a motion planning method for a mobile device in a magnetic levitation transport system, wherein the magnetic levitation transport system includes a guide rail, wherein the guide rail includes a straight segment guide rail and an arc segment guide rail, and the method includes:

[0006] Acquire an initial speed of a starting position of a mobile device entering a target area, wherein the target area is a transition area between the straight segment guide rail and the circular arc segment guide rail;

[0007] Determine the centroid linear velocity of the mobile device on the circular arc segment guide rail according to the initial velocity and the configured arc radius of the circular arc segment guide rail and the centroid radius of the target object, wherein the target object is the object currently transported by the mobile device;

[0008] A first target driving duration for the target area is obtained, and target speed data is determined according to the first target driving duration, the center of mass linear speed, and the initial speed, so as to control the mobile device to travel from a starting position of the target area to a target position of the target area according to the target speed data.

[0009] In one embodiment, determining the centroid linear velocity of the mobile device on the circular arc segment guide rail according to the initial velocity and the configured arc radius of the circular arc segment guide rail and the centroid radius of the target object comprises:

[0010] Based on the sum of the arc radius and the centroid radius, a ratio of the sum to the arc radius is calculated to obtain a first speed adjustment parameter;

[0011] The mass center linear velocity is calculated according to the product of the first velocity adjustment parameter and the initial velocity.

[0012] In one embodiment, the target speed data includes a first target acceleration and a first target speed; and determining the target speed data according to the first target driving time, the center of mass linear speed, and the initial speed includes:

[0013] Obtaining a difference between the center-of-mass linear velocity and the initial velocity, and dividing the difference by the first target driving duration to obtain the first target acceleration;

[0014] Based on each first time point on the first target driving duration, obtaining a product of the first time point and the first target acceleration, and determining the product as a real-time acceleration of the mobile device based on the first time point;

[0015] A first target speed of the mobile device corresponding to the first time point is obtained according to the sum of the real-time acceleration and the initial speed.

[0016] In one embodiment, obtaining a first target driving time for the target area includes:

[0017] Acquire a position measurement point of the mobile device, calculate an offset between the position measurement point and the center of mass of the mobile device, and obtain a path length of the target area;

[0018] The first target driving duration is determined according to the path length, the initial speed and the centroid linear speed.

[0019] In one embodiment, if the target area is a transition area where the mobile device travels from the straight segment guide rail to the circular arc segment guide rail; after determining the centroid linear velocity of the mobile device on the circular arc segment guide rail, the method includes:

[0020] Determining a second target driving time of the mobile device on the circular arc segment guide rail according to the arc radius of the circular arc segment guide rail and the center of mass linear speed of the mobile device on the circular arc segment guide rail;

[0021] Based on each second time point of the second target driving duration, as well as the center of mass linear speed, the arc radius and the center of mass radius, a second target speed is calculated to control the mobile device to travel from the target position of the target area to the end position of the arc segment guide rail according to the second target speed.

[0022] In one embodiment, the second target speed is calculated based on each second time point on the second target driving duration, the centroid linear speed, the arc radius and the centroid radius, including:

[0023] Determine the speed to be adjusted based on the center of mass radius, the arc radius and the center of mass linear speed;

[0024] Determine, according to each second time point on the second target driving duration, the arc radius and the centroid linear speed, a speed adjustment function of the mobile device based on the corresponding second time point;

[0025] The speed to be adjusted is adjusted according to the speed adjustment function to obtain a second target speed of the mobile device corresponding to the second time point.

[0026] In one embodiment, the second target speed is calculated by the following formula:

[0027]

[0028] Among them, r cg is the radius of the centroid, R arc is the radius of the arc, v cg_arc is the mass center linear speed, t2 is the second time point of the second target driving duration, v arc A second target speed is provided for the mobile device based on the second target speed corresponding to the second time point.

[0029] In one embodiment, the method further comprises:

[0030] As the second time point t2 increases, the The value varies between -1 and 1. When the value of is 1, the second target speed reaches the maximum value;

[0031] When the When the value of is 0, the second target speed is 0;

[0032] When the When the value is -1, the second target speed reaches the reverse maximum value.

[0033] In a second aspect, the present application provides a motion planning device for a mobile device in a magnetic levitation transport system, wherein the magnetic levitation transport system includes a guide rail, wherein the guide rail includes a straight segment guide rail and an arc segment guide rail, and the device includes:

[0034] A speed acquisition module, used to acquire an initial speed of a starting position of a mobile device entering a target area, wherein the target area is a transition area between the straight segment guide rail and the circular arc segment guide rail;

[0035] a calculation module, used to determine the centroid linear velocity of the mobile device on the circular arc segment guide rail according to the initial velocity and the configured arc radius of the circular arc segment guide rail and the centroid radius of the target object, wherein the target object is the object currently transported by the mobile device;

[0036] The speed planning module is used to obtain a first target driving time for the target area, and determine target speed data according to the first target driving time, the center of mass linear speed and the initial speed, so as to control the mobile device to travel from the starting position of the target area to the target position of the target area according to the target speed data.

[0037] In a third aspect, the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0039] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements the steps of the above method when executed by a processor.

[0040] The motion planning method, device, electronic device, storage medium and computer program product of the mobile device in the above-mentioned magnetic levitation conveying system obtain the initial speed of the starting position of the mobile device entering the target area, and then determine the center of mass linear speed of the mobile device on the arc segment guide rail according to the initial speed and the arc radius of the configured arc segment guide rail and the center of mass radius of the target object, obtain the first target driving time for the target area, and determine the target speed data according to the first target driving time, the center of mass linear speed and the initial speed to control the position and speed of the mobile device during the transition process, thereby optimizing the dynamic performance of the mobile device and improving the stability and operation efficiency of the mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A schematic diagram of a flow chart of a motion planning method for a mobile device in a magnetic levitation transport system in one embodiment;

[0043] Figure 2 A schematic diagram of a flow chart of a step of obtaining a first target driving duration in an embodiment;

[0044] Figure 3 A schematic diagram of a flow chart of a step of calculating target speed data in one embodiment;

[0045] Figure 4 is a flow chart of a motion planning method in another embodiment;

[0046] Figure 5 A schematic diagram of a guide rail of a magnetic levitation conveying system in one embodiment;

[0047] Figure 6 A structural block diagram of a motion planning device for a mobile device in a magnetic levitation transport system in one embodiment;

[0048] Figure 7 FIG. 4 is a diagram showing the internal structure of an electronic device in one embodiment. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] The mobile device is subject to different mechanical constraints and friction when switching between two track states, resulting in insufficient stability of the mobile device, which affects the operating efficiency. In the related art, the method of controlling the movement of the mobile device on curves or bends by adding a mechanical guide device can improve the stability of the mobile device, but it requires additional power to maintain the movement and requires regular maintenance and upkeep, which increases energy consumption and operation and maintenance costs.

[0051] In the case of PID (proportional-integral-derivative control) based on the movement of the mobile device on the track, when the mobile device moves from a straight segment to a curved segment (such as an arc segment) or leaves the arc segment, the PID output will fluctuate greatly, leading to the following problems:

[0052] Since the track of the arc segment is in an overlapping and non-flat state, while the track of the straight segment is in a non-overlapping and flat state, there is a difference in the track state between the straight segment and the arc segment. This will cause the mobile device to be affected by different mechanical constraints and friction when switching between the two track states, resulting in a large change in the motor torque demand.

[0053] Since the controller usually controls the movement of the mobile device based on the motor torque or driving force. When the mobile device switches from a straight segment to an arc segment, due to the difference in track state, the motor needs to generate different torques to adapt to the new motion environment. This torque adjustment may require a larger current or voltage output, resulting in larger fluctuations in the PID output. And on the arc segment, the position feedback of the mobile device will be affected by the overlapping state of the track, which reduces the accuracy of the position feedback. This will cause the controller to generate more fluctuations when trying to correct the position error.

[0054] Based on this, the embodiments of the present application provide a motion planning method, device, electronic device, storage medium and computer program product for a mobile device in a magnetic levitation transportation system, aiming to improve the stability and operating efficiency of the mobile device when switching between two track states (such as a straight segment guide rail and a circular arc segment guide rail).

[0055] In one embodiment, Figure 1 As shown, a motion planning method for a mobile device in a magnetic levitation conveying system is provided, wherein the magnetic levitation conveying system includes a guide rail, and the guide rail includes a straight segment guide rail and an arc segment guide rail. The method may specifically include the following steps:

[0056] Step 101: Obtain the initial velocity of the mobile device at the starting position when it enters the target area.

[0057] The target area is a transition area determined based on the connection between the straight segment guide rail and the arc segment guide rail, and the area is used for the transition of the mobile device from the straight segment guide rail to the arc segment guide rail or from the arc segment guide rail to the straight segment guide rail. It can be understood that when the guide rail layout of the magnetic levitation conveying system is determined, the target area can be configured based on the specific application scenario.

[0058] The starting position refers to the boundary point of the target area that the mobile device first passes when traveling from a straight segment rail to an arc segment rail, or from an arc segment rail to a straight segment rail, that is, the starting point of the target area passed when entering the target area. The initial speed refers to the speed of the mobile device when it enters the starting position of the target area. Specifically, in the scenario where the mobile device travels from a straight segment rail to an arc segment rail, the initial speed may specifically be the command speed, acceleration, and jerk when the mobile device runs on the straight segment rail to reach the starting position of the target area. In the scenario where the mobile device travels from an arc segment rail to a straight segment rail, the initial speed may specifically be the maximum speed limit or the maximum acceleration limit of the mobile device when it runs on the straight segment rail.

[0059] In this embodiment, by obtaining the initial speed of the starting position of the mobile device entering the target area, the control parameters in the target area, i.e., the transition area, can be planned through subsequent steps to control the position and speed of the mobile device during the transition process, optimize the dynamic performance of the mobile device, and improve the stability and operation efficiency of the mobile device.

[0060] Step 102, determining the center-of-mass linear velocity of the mobile device on the circular arc segment guide rail according to the initial velocity, the arc radius of the configured circular arc segment guide rail, and the center-of-mass radius of the target object.

[0061] Among them, the target item is the item currently transported by the mobile device. The centroid radius is determined by the appearance characteristics of the target item currently being transported and the centroid of the target item, and can be obtained by measuring and calculating the target item currently being transported. The arc radius refers to the radius corresponding to the arc segment guide rail, which is related to the production and installation process of the arc segment guide rail. When the guide rail layout of the magnetic levitation conveying system is determined, the arc radius is a fixed value. It can be understood that after the centroid radius of the target item and the arc radius of the guide rail are obtained by measurement and calculation, they can be written into the configuration file so that they can be directly called later. Therefore, in this embodiment, the arc radius of the arc segment guide rail and the centroid radius of the target item can be directly obtained from the configuration.

[0062] The centroid linear velocity refers to the speed of the center of mass of the mobile device when it moves in a circle along the arc segment rail. Since its direction is along the tangent direction of the arc segment rail, it is also called the tangential velocity. Specifically, the centroid linear velocity of the mobile device on the arc segment rail can be calculated based on the initial velocity obtained in the above steps and the arc radius of the arc segment rail and the centroid radius of the target object read from the configuration.

[0063] In an exemplary embodiment, the ratio of the sum of the arc radius and the centroid radius can be calculated to obtain a first speed adjustment parameter, and then the product of the first speed adjustment parameter and the initial speed can be calculated, that is, the initial speed is adjusted based on the first speed adjustment parameter to obtain the centroid linear speed. The specific calculation formula is as follows:

[0064] Among them, r cg is the radius of the target object’s center of mass, R arc is the arc radius of the arc guide rail, v c is the initial velocity, v cg_arc is the calculated linear velocity of the center of mass of the mobile device on the circular arc guide rail, then the first velocity adjustment parameter is

[0065] In an exemplary embodiment, according to the initial speed, the arc radius of the configured arc segment guide rail, and the center of mass radius of the target object, the following control parameters can also be calculated:

[0066] The center of mass acceleration of the mobile device on the arc section guide rail: Among them, r cg is the radius of the target object’s center of mass, R arc is the arc radius of the arc guide rail, v cg_arc is the linear velocity of the center of mass of the mobile device on the circular arc guideway obtained by the above calculation, a cg_arc is the calculated center of mass acceleration of the mobile device on the circular arc guide.

[0067] The acceleration of the mobile device on the straight section guide can be expressed by the following formula: Among them, R arc is the arc radius of the arc guide rail, v c is the initial velocity, A 1 is the acceleration of the mobile device on the straight section guide.

[0068] From the above acceleration A 1 and the center of mass acceleration a cg_arc It can be seen that it can keep the kinetic energy of the mobile device unchanged on the straight segment guide rail and the arc segment guide rail, that is, (where m is mass, v is speed, and r is radius) remains unchanged, so that the centripetal force of the center of mass of the mobile device remains unchanged during driving, so that the mobile device can smoothly transition from the straight segment guide rail to the circular arc segment guide rail, ensuring the driving stability of the mobile device.

[0069] Step 103, obtaining a first target driving time for the target area, and determining target speed data according to the first target driving time, the centroid linear speed, and the initial speed.

[0070] The target speed data is used to control the mobile device to travel from the starting position of the target area to the target position of the target area. Specifically, the target position refers to the end position of the target area, i.e., the transition area. Since the target area is the transition area between the straight segment guide rail and the circular arc segment guide rail, and the target position is the end position of the target area, it is also the start position of the circular arc segment guide rail. Therefore, the target speed data is a control parameter for controlling the mobile device to travel in the target area, i.e., the transition area.

[0071] The first target driving time refers to the driving time for the target area, that is, the driving time of the mobile device in the target area. Therefore, the first target driving time can be determined based on the path length of the specific target area. Once the guide rail layout of the magnetic levitation transportation system is determined, the path length of the target area can be obtained by measurement and calculation based on the specific application scenario, and then the first target driving time for the target area can be determined.

[0072] In this embodiment, by obtaining the first target driving time for the target area, and then according to the first target driving time, the center of mass linear velocity and the initial velocity, the target velocity data of the mobile device in the target area can be obtained by calculation, so as to control the position and velocity of the mobile device during the transition process, optimize the dynamic performance of the mobile device, and improve the stability and operation efficiency of the mobile device.

[0073] In the motion planning method of the mobile device in the above-mentioned magnetic levitation conveying system, the initial velocity of the starting position of the mobile device entering the target area is obtained, and then the center of mass linear velocity of the mobile device on the arc segment guide rail is calculated according to the initial velocity and the arc radius of the configured arc segment guide rail and the center of mass radius of the target object, and the first target driving time for the target area is obtained. According to the first target driving time, the center of mass linear velocity and the initial velocity, the target velocity data is calculated to control the position and velocity of the mobile device during the transition process, thereby optimizing the dynamic performance of the mobile device and improving the stability and operation efficiency of the mobile device.

[0074] In an exemplary embodiment, Figure 2 As shown, in step 103, obtaining a first target driving time for the target area may specifically include:

[0075] Step 201 : obtaining a position measurement point of a mobile device, calculating an offset between the position measurement point and the center of mass of the mobile device, and obtaining a path length of a target area.

[0076] The location measurement point of the mobile device is a point obtained by measurement to characterize the location of the mobile device. This point usually does not coincide with the center of mass of the mobile device. Therefore, there will be some deviation, i.e., offset, between the location measurement point of the mobile device and the center of mass of the mobile device. Specifically, the offset between the location measurement point of the mobile device and the center of mass of the mobile device can be obtained by calculating the difference between the location measurement point of the mobile device and the center of mass of the mobile device.

[0077] In this embodiment, in order to enable the mobile device to smoothly transition from the straight segment guide rail to the arc segment guide rail, the length of the offset may be determined as the path length of the target area.

[0078] Step 202, determining a first target driving time according to the path length, the initial speed and the centroid linear speed.

[0079] Since the target area is the transition area where the mobile device travels from the straight segment guide rail to the arc segment guide rail, and the initial speed is the speed of the mobile device when it enters the starting position of the target area (i.e., the initial speed), and the centroid linear speed is the calculated linear speed of the mobile device on the arc segment guide rail (i.e., the final speed), then based on the path length of the target area obtained above, and the relationship between the distance, speed, and time, the first target travel time can be determined by calculation. Specifically, the first target travel time can be calculated by the following formula:

[0080] Among them, v c is the initial velocity (i.e. initial velocity), v cg_arc is the linear velocity of the center of mass (i.e., final velocity), L trans为 Path length to target area, T trans is the calculated first target driving time.

[0081] It is understandable that once the guide rail layout of the magnetic levitation transportation system is determined, the path length of the target area can be calculated by measurement based on the specific application scenario, and then the first target driving time for the target area can be determined, which can then be used as a constant.

[0082] In an exemplary embodiment, the target speed data includes a first target acceleration and a first target speed, both of which are command control parameters for controlling the mobile device to travel from a starting position of the target area to a target position of the target area. Figure 3 As shown, in step 103, the target speed data is determined according to the first target driving time, the centroid linear speed and the initial speed, which may specifically include:

[0083] Step 301, obtaining the difference between the center-of-mass linear velocity and the initial velocity, and dividing the difference by the first target driving time to obtain the first target acceleration.

[0084] Specifically, the first target acceleration can be calculated by the following formula: Among them, v c is the initial velocity, v cg_arc is the linear velocity of the center of mass, T trans is the first target driving time for the target area, A trans The calculated first target acceleration is the acceleration of the mobile device traveling in the target area, which is used to characterize the speed change of the mobile device in the target area.

[0085] Step 302: based on each first time point on the first target driving duration, obtain the product of the first time point and the first target acceleration, and determine the product as the real-time acceleration of the mobile device based on the corresponding first time point.

[0086] Since the first target driving duration refers to the driving duration for the target area, that is, the time taken for the mobile device to enter the starting position of the target area and to reach the target position of the target area. In other words, during this time, the mobile device is always within the target area. Therefore, for each first time point within this time, the driving speed of the mobile device at the corresponding time point can be planned, which is the first target speed.

[0087] Since the mobile device has acceleration in the target area, that is, the first target acceleration calculated in the above steps, the product of the corresponding first time point and the first target acceleration can be obtained based on each first time point in the first target driving duration, and the product is determined as the real-time acceleration of the mobile device based on the corresponding first time point. Based on this, the real-time acceleration of the mobile device corresponding to each first time point in the first target driving duration can be determined.

[0088] Step 303: Obtain a first target speed of the mobile device at a corresponding first time point according to the sum of the real-time acceleration and the initial speed.

[0089] Specifically, by calculating the sum of the real-time acceleration and the initial speed corresponding to each first time point in the first target driving duration, the first target speed of the mobile device based on each first time point in the first target driving duration can be obtained, that is, the real-time speed of the mobile device at each first time point in the target area can be planned.

[0090] In an exemplary embodiment, the first target speed at a first time point t1 during the first target driving duration may be calculated using the following formula:

[0091] v trans =v c +A trans t1, where v c is the initial velocity, A trans is the first target acceleration of the mobile device in the target area, t1 is the first time point in the first target driving duration, ranging from 0 to T trans , v trans is the calculated first target speed of the mobile device at the first time point t1, that is, the real-time speed at the first time point t1, A trans t is the real-time acceleration of the mobile device at the first time point t1.

[0092] In the above embodiment, the first target acceleration is obtained by obtaining the difference between the center of mass linear velocity and the initial velocity and dividing the difference by the first target driving duration. Based on each first time point on the first target driving duration, the product of the first time point and the first target acceleration is obtained, and the product is determined as the real-time acceleration of the mobile device based on the corresponding first time point. According to the sum of the real-time acceleration and the initial velocity, the first target velocity of the mobile device based on the corresponding first time point is obtained, thereby realizing planning of the real-time velocity of the mobile device at each first time point in the target area, so that the mobile device can smoothly transition in the target area.

[0093] In an exemplary embodiment, based on the initial speed and the first target acceleration of the mobile device in the target area, the position of the mobile device in the target area at each first time point based on the first target driving duration can also be determined. Specifically, it can be calculated by the following formula:

[0094] Among them, v c is the initial velocity, A trans is the first target acceleration of the mobile device in the target area, t1 is a first time point in the first target driving time, ranging from 0 to T trans , P trans The mobile device is located in the target area at the first time point t1, thereby achieving accurate positioning of the mobile device in the target area.

[0095] In an exemplary embodiment, taking the scenario where the target area is a transition area where a mobile device travels from a straight segment rail to an arc segment rail as an example, Figure 4 As shown, in step 102, after determining the centroid linear velocity of the mobile device on the circular arc guide rail, the method may further include:

[0096] Step 401, determining a second target driving time of the mobile device on the circular arc segment guide rail according to the arc radius of the circular arc segment guide rail and the center of mass linear velocity of the mobile device on the circular arc segment guide rail.

[0097] Among them, the second target driving time refers to the driving time of the mobile device on the circular arc section guide rail, that is, the driving time of the mobile device on the circular arc section guide rail. Therefore, the second target driving time can be determined based on the arc length of the circular arc section guide rail. Usually, after the guide rail layout of the magnetic levitation conveying system is determined, the corresponding arc length can be calculated based on the arc radius and center angle of the circular arc section guide rail. Specifically, it can be seen from the arc length calculation formula that the product of the arc radius and the center angle is the arc length.

[0098] Based on the relevant definition of linear velocity in circular motion (such as V = S / T, where V is linear velocity, S is arc length, T is duration, then T = S / V), the second target driving duration of the mobile device for the circular arc guide rail can be obtained by calculation. Specifically, the second target driving duration can be obtained by substituting the parameters:

[0099] Among them, L arc is the arc length of the arc segment guide rail, which is calculated based on the arc radius and center angle of the arc segment guide rail, v cg_arc is the linear velocity of the center of mass, T arc The calculated second target travel time of the mobile device for the circular arc guide rail.

[0100] Step 402 , based on each second time point on the second target driving duration, as well as the centroid linear speed, the arc radius and the centroid radius, calculate the second target speed.

[0101] The second time point ranges from 0 to T arc , that is, any time point when the mobile device is traveling on the circular arc guide rail. The second target speed is used to control the mobile device to travel from the target position of the target area to the end position of the circular arc guide rail. The target position refers to the end position of the target area, that is, the transition area. Since the target area is the transition area between the straight segment guide rail and the circular arc guide rail, and the target position is the end position of the target area, it is also the starting position of the circular arc guide rail. Therefore, the second target speed is a control parameter used to control the mobile device to travel on the circular arc guide rail.

[0102] Specifically, the speed to be adjusted can be determined based on the center of mass radius, the arc radius and the center of mass linear speed, and the speed adjustment function of the mobile device based on the corresponding second time point can be determined according to each second time point on the second target driving duration, the arc radius and the center of mass linear speed. Then, the speed to be adjusted is adjusted according to the speed adjustment function to determine the second target speed of the mobile device in the arc segment guide rail based on the corresponding second time point.

[0103] In an exemplary embodiment, the second target speed can be calculated by the following formula:

[0104] Among them, r cg is the radius of the center of mass, R arc is the arc radius, v cg_arc is the linear velocity of the center of mass, t2 is the second time point on the second target driving duration, ranging from 0 to T arc , v arc The calculated second target speed of the mobile device is based on the second target speed corresponding to the second time point t2.

[0105] Specifically, it can be seen from the above formula that the second target speed is based on the center of mass linear speed v of the mobile device cg_arc The change of the arc segment guide rail on the arc segment guide rail represents the relationship between the velocity of the center of mass of the mobile device on the arc segment guide rail and time, and can be used to analyze and predict the motion state of the mobile device on the arc segment guide rail. For example, as time t2 increases, The value of will vary between -1 and 1, thus affecting the magnitude of the second target speed.

[0106] In an exemplary embodiment, the maximum speed limit of the mobile device on the circular arc guide rail can also be planned according to the speed adjustment function.

[0107] For example, when When the value of is 1, the second target speed can reach the maximum value, that is, at this moment the mobile device travels at the maximum speed on the circular arc segment guide rail.

[0108] when When the value of is 0, the second target speed is 0, that is, the mobile device is located at the turning point of the arc segment guide rail at this moment.

[0109] when When the value of is -1, the second target speed reaches the maximum negative value, that is, at this moment the mobile device travels in the reverse direction at the maximum speed on the circular arc segment guide rail.

[0110] Therefore, for each second time point in the second target driving duration, the driving speed of the mobile device at the corresponding time point, that is, the second target speed, can be planned. Moreover, since the maximum speed of the mobile device on the circular arc guide rail is limited by the above-mentioned speed adjustment function, the driving stability of the mobile device on the circular arc guide rail can be further improved.

[0111] In an exemplary embodiment, based on each second time point on the second target travel time, as well as the centroid linear velocity, the arc radius and the centroid radius, the specific position of the mobile device on the arc segment guide rail at each second time point on the second target travel time can also be determined. Specifically, it can be calculated by the following formula:

[0112] Among them, r cg is the radius of the center of mass, P arc is the arc radius, v cg_arc is the linear velocity of the center of mass, t2 is the second time point on the second target driving duration, ranging from 0 to T arc , P arc The calculated position of the mobile device on the circular arc guide rail at the second time point t2 is used to accurately locate the mobile device on the circular arc guide rail.

[0113] In an exemplary embodiment, taking the scenario where the target area is a transition area where a mobile device travels from a circular arc guide rail to a straight line guide rail as an example, the mobile device is controlled to travel from the starting position of the target area to the target position of the target area according to the target speed data, so that after the mobile device reaches the target position of the target area, since the target area is a transition area where the circular arc guide rail travels to the straight line guide rail, and the target position is the end position of the target area, it is also the starting position of the straight line guide rail. Therefore, after the mobile device reaches the target position of the target area (that is, the starting position of the straight line guide rail), the mobile device can also be controlled to continue traveling on the straight line guide rail based on the maximum value of the running speed limit or the maximum value of the acceleration limit on the straight line guide rail, thereby improving the operating efficiency while ensuring a smooth transition of the mobile device.

[0114] In an exemplary embodiment, Figure 5 The guide rail shown further illustrates the motion planning method of the mobile device in the above-mentioned magnetic levitation conveying system. Specifically, the guide rail includes a straight segment guide rail 51 and a circular arc segment guide rail 52. Due to the difference in track state between the two guide rails, the mobile device is easily affected by different mechanical constraints and friction when switching between the two track states, resulting in insufficient stability of the mobile device and affecting the operating efficiency. The traditional method of controlling the movement of the mobile device on curves or bends by adding mechanical guide devices can improve the stability of the mobile device, but requires additional electrical energy to maintain movement, and requires regular maintenance and maintenance, which leads to increased energy consumption and operation and maintenance costs. In the traditional PID control method, on the circular arc segment guide rail, the position feedback of the mobile device will be affected by the overlapping state of the track, which reduces the accuracy of the position feedback.

[0115] Based on this, in an embodiment of the present application, by defining the connecting portion between the straight segment guide rail 51 and the arc segment guide rail 52 as a transition area (i.e., the target area), when a mobile device is detected to enter the area, the center of mass linear velocity of the mobile device on the arc segment guide rail is calculated based on the initial velocity and the arc radius of the configured arc segment guide rail and the center of mass radius of the target object, and then the control parameters and position information of the mobile device in the target area and the arc segment guide rail can be planned to ensure a smooth transition of the mobile device in each motion segment and improve operating efficiency.

[0116] Specifically, once the guide rail layout of the magnetic levitation conveying system is determined, various data can be obtained and configured based on the specific application scenario, including but not limited to the arc radius of the arc segment guide rail, the arc length of the arc segment guide rail, the center of mass radius of the target object, the path length of the target area, etc.

[0117] For example, if the starting position of the arc segment rail is 300mm and the path length of the target area is 30mm, then the 270mm position of the rail is the starting position of the target area, that is, when the mobile device reaches this position, it is necessary to start planning the motion parameters of the mobile device, that is, starting from this position, the mobile device needs to adjust its driving data according to the target speed data calculated above to achieve a smooth transition from the straight segment rail to the arc segment rail. The starting position of the arc segment rail, 300mm, is the target position of the target area, that is, the end position of the target area. Starting from this position, the mobile device needs to adjust its driving data according to the second target speed calculated above, thereby further improving the stability of the mobile device traveling on the arc segment rail.

[0118] In this embodiment, in order to further improve the accuracy of the position feedback of the mobile device on the arc segment guide rail, so that the mobile device can maintain the planned path and speed during the entire movement process, it is also possible to establish different coordinate systems and accurately locate the position of the mobile device based on the conversion between different coordinate systems when the mobile device is running on different sections, and perform motion planning.

[0119] Among them, different coordinate systems can be coordinate systems established under different reference conditions. For example, the first coordinate system can be established with the center of mass (i.e., center of gravity) of the mobile device as the origin. This coordinate system mainly focuses on the self-motion and stability of the mobile device, especially when it is subjected to external forces (such as centripetal force). Based on this coordinate system, it is helpful to analyze the dynamic characteristics of the car, such as acceleration, speed and direction changes, especially in areas such as arc segments where the centripetal force needs to be considered.

[0120] A second coordinate system can also be established with the center point of the target object transported by the mobile device as the origin. This coordinate system focuses on the position and posture of the target object to ensure that the target object can be accurately and stably transported to the destination. Based on this coordinate system, it helps to accurately control the position and posture of the target object, especially in scenarios that require high-precision transportation, such as assembly lines or material handling systems.

[0121] Specifically, when the mobile device moves from the straight segment guide rail to the circular segment guide rail (i.e., enters the circular segment guide rail), the position of the mobile device can be accurately located in the first coordinate system (i.e., a coordinate system established with the center of mass of the mobile device as the origin). When the mobile device moves from the circular segment guide rail to the straight segment guide rail (i.e., exits the circular segment guide rail), the position of the mobile device can be accurately located in the second coordinate system (i.e., a coordinate system established with the center point of the target object transported by the mobile device as the origin). That is to say, when the mobile device moves on the straight segment guide rail, its motion is controlled with the second coordinate system as a reference condition, and when the mobile device moves on the circular segment guide rail, its motion is controlled with the first coordinate system as a reference condition.

[0122] In this embodiment, when the mobile device is traveling on a straight section rail, if it is detected that it has entered a specific area (such as the starting position of the target area), it is triggered to perform a coordinate conversion, and its current position in the second coordinate system is converted to the first coordinate system to obtain its target position in the first coordinate system. Then, based on the target position, the speed limit, acceleration limit, remaining movement distance of the mobile device from the target, acceleration time of the mobile device and other parameters on the road section where the mobile device is located can be obtained. Using these parameters and the seven-segment S-shaped planning method, reasonable movement parameters of the mobile device (such as the above-mentioned target speed data, second target speed, etc.) can be planned to ensure that the mobile device can move according to the predetermined path and speed, and ensure that the transition process is smooth and accurate, and optimize the dynamic performance and energy consumption of the mobile device.

[0123] When the mobile device exits the arc guide rail, it triggers the coordinate conversion again, converting its current position in the first coordinate system to the second coordinate system to obtain its target position in the second coordinate system. This can better control the precise handling of the target object by the mobile device, provide accurate data support for subsequent motion control, and improve the efficiency and stability of the entire transportation process.

[0124] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0125] Based on the same inventive concept, the embodiment of the present application also provides a motion planning device for implementing the motion planning method of a mobile device in the magnetic levitation conveying system mentioned above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the one or more motion planning device embodiments provided below can refer to the limitations on the motion planning method above, and will not be repeated here.

[0126] In an exemplary embodiment, Figure 6 As shown, a motion planning device for a mobile device in a magnetic levitation transport system is provided, wherein the magnetic levitation transport system includes a guide rail, and the guide rail includes a straight segment guide rail and an arc segment guide rail. The motion planning device includes: a speed acquisition module 601, a calculation module 602 and a speed planning module 603, wherein:

[0127] The speed acquisition module 601 is used to acquire the initial speed of the mobile device at the starting position of entering the target area, where the target area is the transition area between the straight segment guide rail and the circular arc segment guide rail;

[0128] A calculation module 602 is used to determine the centroid linear velocity of the mobile device on the circular arc segment guide rail according to the initial velocity and the configured arc radius of the circular arc segment guide rail and the centroid radius of the target object, wherein the target object is the object currently transported by the mobile device;

[0129] The speed planning module 603 is used to obtain a first target driving duration for the target area, and determine target speed data according to the first target driving duration, the center of mass linear speed and the initial speed, so as to control the mobile device to travel from the starting position of the target area to the target position of the target area according to the target speed data.

[0130] In an exemplary embodiment, the calculation module is also used to: calculate the ratio of the sum of the arc radius and the center of mass radius to the arc radius based on the sum of the arc radius and the center of mass radius to obtain a first speed adjustment parameter; and calculate the center of mass linear velocity based on the product of the first speed adjustment parameter and the initial velocity.

[0131] In an exemplary embodiment, the target speed data includes a first target acceleration and a first target speed; the speed planning module is further used to: obtain the difference between the center of mass linear speed and the initial speed, and divide the difference by the first target driving duration to obtain the first target acceleration; based on each first time point on the first target driving duration, obtain the product of the first time point and the first target acceleration, and determine the product as the real-time acceleration of the mobile device based on the corresponding first time point; according to the sum of the real-time acceleration and the initial speed, obtain the first target speed of the mobile device based on the corresponding first time point.

[0132] In an exemplary embodiment, the speed planning module is also used to: obtain a position measurement point of the mobile device, calculate an offset between the position measurement point and the center of mass of the mobile device, and obtain a path length of the target area; and determine the first target driving time based on the path length, the initial speed, and the center of mass linear speed.

[0133] In an exemplary embodiment, if the target area is a transition area where the mobile device travels from the straight segment guide rail to the circular arc segment guide rail, the motion planning device also includes: a second target driving time determination module, used to determine the second target driving time of the mobile device for the circular arc segment guide rail according to the arc radius of the circular arc segment guide rail and the center of mass linear velocity of the mobile device on the circular arc segment guide rail; a second target speed determination module, used to calculate the second target speed based on each second time point on the second target driving time, as well as the center of mass linear velocity, the arc radius and the center of mass radius, so as to control the mobile device to travel from the target position of the target area to the end position of the circular arc segment guide rail according to the second target speed.

[0134] In an exemplary embodiment, the second target speed determination module is further used to: determine the speed to be adjusted based on the center of mass radius, the arc radius and the center of mass linear speed; determine the speed adjustment function of the mobile device based on the corresponding second time point according to each second time point on the second target driving duration, the arc radius and the center of mass linear speed; adjust the speed to be adjusted according to the speed adjustment function to obtain the second target speed of the mobile device based on the corresponding second time point.

[0135] In an exemplary embodiment, the second target speed is calculated by the following formula:

[0136]

[0137] Among them, r cg is the radius of the centroid, R arc is the radius of the arc, v cg_arc is the mass center linear speed, t2 is the second time point of the second target driving duration, v arc A second target speed is provided for the mobile device based on the second target speed corresponding to the second time point.

[0138] In an exemplary embodiment, as the second time point t2 increases, the The value varies between -1 and 1. When the value of is 1, the second target speed reaches the maximum value; when When the value of is 0, the second target speed is 0; when the When the value is -1, the second target speed reaches the reverse maximum value.

[0139] Each module in the above motion planning device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0140] In an exemplary embodiment, an electronic device is provided. The electronic device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 7As shown. The electronic device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through an input / output interface (i.e., an I / O interface). Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The I / O interface of the electronic device is used to exchange information between the processor and an external device. The communication interface of the electronic device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a motion planning method for a mobile device in a magnetic levitation conveying system is implemented. The display unit of the electronic device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the electronic device casing, or an external keyboard, touchpad or mouse.

[0141] Those skilled in the art will understand that Figure 7 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0142] In an exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps shown in the above method when executing the computer program.

[0143] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps shown in the above method are implemented.

[0144] In one embodiment, a computer program product is provided, including a computer program, which implements the steps shown in the above method when executed by a processor.

[0145] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0146] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0147] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A motion planning method for a mobile device in a magnetic levitation conveying system, characterized in that: The magnetic suspension conveying system comprises a guide rail, wherein the guide rail comprises a straight-segment guide rail and a circular-arc-segment guide rail, and the method comprises: Acquire an initial speed of a starting position of a mobile device entering a target area, wherein the target area is a transition area between the straight segment guide rail and the circular arc segment guide rail; Determine the centroid linear velocity of the mobile device on the circular arc segment guide rail according to the initial velocity and the configured arc radius of the circular arc segment guide rail and the centroid radius of the target object, wherein the target object is the object currently transported by the mobile device; Acquire a first target driving duration for the target area, and determine target speed data according to the first target driving duration, the centroid linear speed, and the initial speed, so as to control the mobile device to travel from a starting position of the target area to a target position of the target area according to the target speed data; The method of determining the center of mass linear velocity of the mobile device on the arc segment guide rail based on the initial velocity and the configured arc radius of the arc segment guide rail and the center of mass radius of the target object comprises: calculating the ratio of the sum to the arc radius based on the sum of the arc radius and the center of mass radius to obtain a first speed adjustment parameter; and calculating the center of mass linear velocity based on the product of the first speed adjustment parameter and the initial velocity.

2. The method according to claim 1, characterized in that The target speed data includes a first target acceleration and a first target speed; the target speed data is determined according to the first target driving time, the center of mass linear speed and the initial speed, including: Obtaining a difference between the center-of-mass linear velocity and the initial velocity, and dividing the difference by the first target driving duration to obtain the first target acceleration; Based on each first time point on the first target driving duration, obtaining a product of the first time point and the first target acceleration, and determining the product as a real-time acceleration of the mobile device based on the first time point; A first target speed of the mobile device corresponding to the first time point is obtained according to the sum of the real-time acceleration and the initial speed.

3. The method according to claim 1, characterized in that The obtaining of a first target driving duration for the target area includes: Acquire a position measurement point of the mobile device, calculate an offset between the position measurement point and the center of mass of the mobile device, and obtain a path length of the target area; The first target driving duration is determined according to the path length, the initial speed and the centroid linear speed.

4. The method according to any one of claims 1 to 3, characterized in that: If the target area is a transition area where the mobile device moves from the straight segment guide rail to the arc segment guide rail; After determining the centroid linear velocity of the mobile device on the circular arc segment guide rail, the method comprises: Determining a second target driving time of the mobile device on the circular arc segment guide rail according to the arc radius of the circular arc segment guide rail and the center of mass linear speed of the mobile device on the circular arc segment guide rail; Based on each second time point of the second target driving duration, as well as the center of mass linear speed, the arc radius and the center of mass radius, a second target speed is calculated to control the mobile device to travel from the target position of the target area to the end position of the arc segment guide rail according to the second target speed.

5. The method according to claim 4, characterized in that The calculating the second target speed based on each second time point on the second target driving duration, the centroid linear speed, the arc radius and the centroid radius comprises: Determine the speed to be adjusted based on the center of mass radius, the arc radius and the center of mass linear speed; Determine, according to each second time point on the second target driving duration, the arc radius and the centroid linear speed, a speed adjustment function of the mobile device based on the corresponding second time point; The speed to be adjusted is adjusted according to the speed adjustment function to obtain a second target speed of the mobile device corresponding to the second time point.

6. The method according to claim 4, characterized in that The second target speed is calculated by the following formula: Among them, r cg is the radius of the centroid, R arc is the radius of the arc, v cg_arc is the mass center linear speed, t2 is the second time point of the second target driving duration, v arc A second target speed is provided for the mobile device based on the second target speed corresponding to the second time point.

7. The method according to claim 6, characterized in that The method further comprises: As the second time point t2 increases, the The value varies between -1 and 1. When the value of is 1, the second target speed reaches the maximum value; When the When the value of is 0, the second target speed is 0; When the When the value is -1, the second target speed reaches the reverse maximum value.

8. A motion planning device for a mobile device in a magnetic levitation conveying system, characterized in that: The magnetic suspension conveying system comprises a guide rail, wherein the guide rail comprises a straight section guide rail and an arc section guide rail, and the device comprises: A speed acquisition module, used to acquire an initial speed of a starting position of a mobile device entering a target area, wherein the target area is a transition area between the straight segment guide rail and the circular arc segment guide rail; a calculation module, used to determine the centroid linear velocity of the mobile device on the circular arc segment guide rail according to the initial velocity and the configured arc radius of the circular arc segment guide rail and the centroid radius of the target object, wherein the target object is the object currently transported by the mobile device; a speed planning module, configured to obtain a first target driving duration for the target area, and determine target speed data according to the first target driving duration, the centroid linear speed, and the initial speed, so as to control the mobile device to travel from a starting position of the target area to a target position of the target area according to the target speed data; The calculation module is also used to calculate the ratio of the sum of the arc radius and the center of mass radius to the arc radius based on the sum of the arc radius and the center of mass radius to obtain a first speed adjustment parameter; and calculate the center of mass linear velocity according to the product of the first speed adjustment parameter and the initial velocity.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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