Method for controlling operation of a mover of a synchronous transition orbit and related device

Abstract

The mover running control method of the synchronous transition track and the related equipment provided by the embodiments of the present application, the synchronous transition track comprises a first position and a second position, the method comprises the following steps: firstly, obtaining first running data of the mover reaching the first position and second running data required when the mover reaches the second position; then, generating first speed planning data from the first position to the second position based on the first position, the first running data, the second position and the second running data; finally, obtaining speed control parameters according to the first speed planning data, and controlling the mover to move from the first position to the second position according to the speed control parameters, thereby improving the smoothness of the synchronous running of the mover and reducing the risk of failure of the mover.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control, and in particular to a mover running control method for a synchronous transition track and related equipment. BACKGROUND

[0002] In the field of industrial automation, magnetic levitation conveying technology is widely used in the conveying of movers. For example, it is used in the processes of goods assembly, packaging, and surface mount technology (SMT) of precision electronic components on logistics lines. In these applications, it is often necessary to perform machining operations on the workpieces on the movers during their running. In order to meet the target running data required for machining operations, the running data of the mover needs to be controlled in advance on the synchronous transition track to achieve the required target running data.

[0003] In the prior art, when controlling the mover in the synchronous transition track, it is often directly accelerated at the maximum acceleration to quickly raise the initial running speed of the mover to the second speed corresponding to the target running data to meet the synchronous control requirement. However, due to the large difference between the target running data and the first running data, this synchronous control method is prone to cause the running of the mover to be not smooth, increasing the risk of failure of the mover. SUMMARY

[0004] The mover running control method for a synchronous transition track and related equipment provided by the embodiments of the present application can improve the smoothness of the synchronous control of the mover on the synchronous transition track.

[0005] To achieve the above-mentioned purpose, a first aspect of the embodiments of the present application provides a mover running control method for a synchronous transition track, the synchronous transition track comprising a first position and a second position, the method comprising:

[0006] obtaining first running data of a mover reaching the first position, and second running data required when the mover reaches the second position;

[0007] generating first speed planning data from the first position to the second position based on the first position, the first running data, the second position, and the second running data;

[0008] obtaining a speed control parameter according to the first speed planning data, and controlling the mover to move from the first position to the second position according to the speed control parameter.

[0009] In some embodiments, the first speed planning data from the first position to the second position is generated based on the first position, the first running data, the second position, and the second running data, comprising:

[0010] generate a position-velocity equation set based on the first position, the first running data, the second position and the second running data;

[0011] solve the position-velocity equation set to obtain a velocity planning parameter, and generate an initial planning velocity, an initial planning position and an initial planning acceleration at each time from the first position to the second position based on the velocity planning parameter to obtain the first velocity planning data.

[0012] In some embodiments, the obtaining the velocity control parameter based on the first velocity planning data comprises:

[0013] when the initial planning velocity in the first velocity planning data does not exist a velocity reversal, obtaining the velocity control parameter based on the first velocity planning data;

[0014] when the initial planning velocity in the first velocity planning data exists a velocity reversal, using a position of the first velocity reversal as a target adjustment position, and obtaining the velocity control parameter based on the target adjustment position and the first velocity planning data.

[0015] In some embodiments, the obtaining the velocity control parameter based on the target adjustment position and the first velocity planning data comprises:

[0016] obtaining the first velocity planning data between the target adjustment position and the first position to obtain a first target planning data, the first target planning data comprising a target adjustment parameter at each time;

[0017] using the target adjustment position as the first position, and setting a first velocity and a first acceleration in the first running data to zero;

[0018] generating a second target adjustment planning data from the target adjustment position to the second position based on the updated first position, the updated first running data, the second position and the second running data;

[0019] obtaining the velocity control parameter based on the first target planning data and the second target planning data.

[0020] In some embodiments, the first operation data comprises a first speed, a first acceleration, and a first time, the second operation data comprises a second speed, a second time, and a second acceleration, the position-velocity equation set comprises a first position equation and a second position equation, the velocity planning parameter comprises a first sub-parameter, a second sub-parameter, a third sub-parameter, a fourth sub-parameter, a fifth sub-parameter, and a sixth sub-parameter, and the generating the position-velocity equation set based on the first position, the first operation data, the second position, and the second operation data comprises:

[0021] obtaining a first parameter variable corresponding to the first sub-parameter, a second parameter variable corresponding to the second sub-parameter, a third parameter variable corresponding to the third sub-parameter, a fourth parameter variable corresponding to the fourth sub-parameter, a fifth parameter variable corresponding to the fifth sub-parameter, and a sixth parameter variable corresponding to the sixth sub-parameter;

[0022] obtaining a first position multiplier based on a product of the fifth power of the first time and the first parameter variable, a second position multiplier based on a product of the fourth power of the first time and the second parameter variable, a third position multiplier based on a product of the cube of the first time and the third parameter variable, a fourth position multiplier based on a product of the square of the first time and the fourth parameter variable, and a fifth position multiplier based on a product of the first time and the fifth parameter variable;

[0023] obtaining a sixth position multiplier based on a product of the fifth power of the second time and the first parameter variable, a seventh position multiplier based on a product of the fourth power of the second time and the second parameter variable, an eighth position multiplier based on a product of the cube of the second time and the third parameter variable, a ninth position multiplier based on a product of the square of the second time and the fourth parameter variable, and a tenth position multiplier based on a product of the second time and the fifth parameter variable;

[0024] obtaining a first position equal term by accumulating the first position multiplier, the second position multiplier, the third position multiplier, the fourth position multiplier, the fifth position multiplier, and the sixth parameter variable, and obtaining the first position equation based on the first position equal term and the first position;

[0025] obtaining a second position equal term by accumulating the sixth position multiplier, the seventh position multiplier, the eighth position multiplier, the ninth position multiplier, the tenth position multiplier, and the sixth parameter variable, and obtaining the second position equation based on the second position equal term and the second position.

[0026] In some embodiments, the position-velocity equation set further comprises a first velocity equation and a second velocity equation, and the generating the position-velocity equation set based on the first position, the first operation data, the second position, and the second operation data further comprises:

[0027] a first velocity multiplication term based on a product of the fourth power of the first time and the first parameter variable, a second velocity multiplication term based on a product of the cube of the first time and the second parameter variable, a third velocity multiplication term based on a product of the square of the first time and the third parameter variable, and a fourth velocity multiplication term based on a product of the first time and the fourth parameter variable;

[0028] a fifth velocity multiplication term based on a product of the fourth power of the second time and the first parameter variable, a sixth velocity multiplication term based on a product of the cube of the second time and the second parameter variable, a seventh velocity multiplication term based on a product of the square of the second time and the third parameter variable, and an eighth velocity multiplication term based on a product of the second time and the fourth parameter variable;

[0029] a first velocity equal term based on an accumulation of the first velocity multiplication term, the second velocity multiplication term, the third velocity multiplication term, the fourth velocity multiplication term, and the fifth parameter variable, and the first velocity equation based on the first velocity equal term and the first velocity;

[0030] a second velocity equal term based on an accumulation of the fifth velocity multiplication term, the sixth velocity multiplication term, the seventh velocity multiplication term, the eighth velocity multiplication term, and the fifth parameter variable, and the second velocity equation based on the second velocity equal term and the second velocity.

[0031] In some embodiments, the position-velocity equation set further comprises a first acceleration equation and a second acceleration equation, and the generating the position-velocity equation set based on the first position, the first operation data, the second position, and the second operation data further comprises:

[0032] a first acceleration multiplication term based on a product of the cube of the first time and the first parameter variable, a second acceleration multiplication term based on a product of the square of the first time and the second parameter variable, and a third acceleration multiplication term based on a product of the first time and the third parameter variable;

[0033] a fourth acceleration multiplication term based on a product of the cube of the first time and the first parameter variable, a fifth acceleration multiplication term based on a product of the square of the first time and the second parameter variable, and a sixth acceleration multiplication term based on a product of the first time and the third parameter variable;

[0034] accumulating the first acceleration multiplication term, the second acceleration multiplication term, the third acceleration multiplication term and the fourth parameter variable to obtain a first acceleration equal term, and obtaining the first acceleration equation based on the first acceleration equal term and the first acceleration;

[0035] accumulating the fourth acceleration multiplication term, the fifth acceleration multiplication term, the sixth acceleration multiplication term and the fourth parameter variable to obtain a second acceleration equal term, and obtaining the second acceleration equation based on the second acceleration equal term and the second acceleration.

[0036] To achieve the above object, a second aspect of the embodiment of the present application provides a mover running control device for a synchronous transition track, the synchronous transition track comprising a first position and a second position, the device comprising:

[0037] a data acquisition module, configured to acquire first running data of a mover reaching the first position, and second running data required when the mover reaches the second position;

[0038] a data generation module, configured to generate first speed planning data from the first position to the second position based on the first position, the first running data, the second position and the second running data;

[0039] a control module, configured to obtain a speed control parameter according to the first speed planning data, and control the mover to move from the first position to the second position according to the speed control parameter.

[0040] To achieve the above object, a third aspect of the embodiment of the present application provides an electronic device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the mover running control method for a synchronous transition track as described in the first aspect when executing the computer program.

[0041] To achieve the above object, a fourth aspect of the embodiment of the present application provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, the computer program is executed by a processor to implement the mover running control method for a synchronous transition track as described in the first aspect.

[0042] The mover running control method of the synchronous transition track and the related device provided by the embodiments of the present application, the synchronous transition track comprises a first position and a second position, the method comprises the following steps: first, obtaining first running data of the mover reaching the first position and second running data required when the mover reaches the second position; then, generating first speed planning data from the first position to the second position based on the first position, the first running data, the second position and the second running data; finally, obtaining speed control parameters according to the first speed planning data, and controlling the mover to move from the first position to the second position according to the speed control parameters. The first speed planning data generated by the first running data of the mover reaching the first position and the second running data required when the mover reaches the second position is used to gradually generate the speed control parameters for smooth control between the first position and the second position, so that the smoothness of the synchronous running of the mover in the synchronous transition track is effectively improved, and the risk of failure of the mover is reduced.

[0043] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or can be learned by practice of the present application. The objects and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a structural schematic diagram of a magnetic levitation conveying track provided by another embodiment of the present application.

[0045] Figure 2 is a flowchart of a mover running control method of a synchronous transition track provided by another embodiment of the present application.

[0046] Figure 3 is Figure 2 is a flowchart of step 202.

[0047] Figure 4 is a generation flowchart of a first position equation and a second position equation provided by another embodiment of the present application.

[0048] Figure 5 is a generation flowchart of a first speed equation and a second speed equation provided by another embodiment of the present application.

[0049] Figure 6 is a generation flowchart of a first acceleration equation and a second acceleration equation provided by another embodiment of the present application.

[0050] Figure 7 is a schematic diagram of first speed planning data provided by another embodiment of the present application.

[0051] Figure 8 is Figure 2The flow chart of step 203.

[0052] Figure 9 is a schematic diagram of the initial planning speed curve provided by another embodiment of the present application.

[0053] Figure 10 is a schematic diagram of the initial planning speed curve provided by another embodiment of the present application.

[0054] Figure 11 is Figure 8 The flow chart of step 802.

[0055] Figure 12 is a schematic diagram of the first target planning data and the second target planning data provided by another embodiment of the present application.

[0056] Figure 13 is a schematic diagram of the structure of the mover running control device of the synchronous transition track provided by an embodiment of the present application.

[0057] Figure 14 is a schematic diagram of the hardware structure of the electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to 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 intended to limit the present application.

[0059] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be executed in a manner different from the module division in the device or the order in the flow chart.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0061] In the field of industrial automation, magnetic levitation conveying technology is widely used in the conveying of movers. For example, it is used in the processes of assembling, packaging, and surface mount technology (SMT) of precision electronic components on logistics lines. In these applications, it is often necessary to perform machining operations on the workpieces on the movers during the running of the movers, and in order to meet the target running data required for the machining operations, the running data of the movers need to be controlled in advance on the synchronous transition track to achieve the required target running data.

[0062] In existing technologies, when controlling a mover in a synchronous transition track, the initial running speed of the mover is often increased as quickly as possible to reach the second speed corresponding to the target running data by directly using the maximum acceleration to meet the synchronous control requirements. However, since there is a large difference between the target running data and the first running data, this synchronous control method is prone to causing the mover's operation to be uneven, increasing the risk of mover failure.

[0063] To improve the smoothness of synchronous control of the mover on the synchronous transition track, embodiments of this application utilize first speed planning data generated from first operating data when the mover reaches the first position and second operating data required for the mover to reach the second position. This data is used to gradually generate speed control parameters for smooth control between the first and second positions, thereby effectively improving the smoothness of synchronous operation of the mover on the synchronous transition track and reducing the risk of mover failure.

[0064] To better illustrate the mover operation control method for the synchronous transition track provided in this application, this embodiment first describes a maglev transport track applying the mover operation control method. (Refer to...) Figure 1 The diagram shown is a structural schematic of a magnetic levitation transport track provided in an embodiment of this application. Figure 1 As shown, the mover runs on a maglev transport track, which includes a synchronous transition track, comprising a first position and a second position.

[0065] In some applications, the mover needs to perform control operations at the end of the synchronous transition track (i.e., the second position). These control operations require precise operational data; specifically, the mover must maintain consistent velocity, acceleration, and other motion characteristics with the external axis within a specific position range. The external axis, as the master axis, guides the motion characteristics of the mover within the synchronous transition track, while the mover, as the slave axis, must follow the motion characteristics of the external axis within a specific region. Therefore, when the mover reaches the initial end of the synchronous transition track (i.e., the first position), to ensure the operational data meets the second operational data when the mover reaches the second position, data planning for synchronous control of the mover on the synchronous transition track needs to be performed when the mover reaches the first position. Then, synchronous operation control of the mover is implemented on the synchronous transition track.

[0066] The synchronous running control of the mover includes four stages. Specifically, the four stages include: 1) a preparation synchronization stage: the stage occurs when the mover is about to reach the first position. In this stage, the synchronization running plan of the mover needs to be prepared. In order to control the running data of the mover, the acceleration of the mover is gradually reduced to 0, and the stable acceleration is maintained. 2) a start synchronization stage: the stage occurs when the mover reaches the first position. This is the most important stage in the synchronization running control. According to the first running data of the mover reaching the first position and the second running data required by the mover reaching the second position, the running data of the mover is planned. 3) an in-synchronization stage: the stage occurs when the mover runs in the synchronization transition track. According to the running data of the mover planned in the start synchronization stage, the synchronization running control of the mover is performed, so that the mover can reach the second running data when reaching the second position. 4) an exit synchronization stage: the stage occurs after the mover completes the corresponding control operation and reaches the second position. After the mover completes the synchronization control, the exit synchronization stage is entered, and the synchronization control stage is ended. The four stages of the synchronization running control of the mover are described above, and each stage plays a specific role to ensure the smooth progress of the synchronization running.

[0067] Based on the above-mentioned magnetic levitation conveying track, the mover running control method of the synchronization transition track in the embodiment of the application will be described in detail. Referring to Figure 2 , the optional flowchart of the mover running control method of the synchronization transition track provided in the embodiment of the application, Figure 2 may include but is not limited to steps 201 to 203. It can be understood that the order of steps 201 to 203 in Figure 2 is not limited specifically, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs. The mover running control method of the synchronization transition track provided in the embodiment of the application can be applied to intelligent terminals, servers, computers and the like connected with the magnetic levitation conveying track.

[0068] Step 201: obtaining the first running data of the mover reaching the first position and the second running data required by the mover reaching the second position.

[0069] Step 201 will be described in detail below.

[0070] In some embodiments, when the mover runs to the first position p s , the first running data of the mover at the current time is obtained, and the first running data includes the first time t s , the first speed v s and the speed acceleration a s of the mover reaching the first position p s . At the same time, the second running data required by the mover reaching the second position p eThe second operating data required at that time includes the second speed v e Second time t e And the second acceleration a e .

[0071] Step 202: Generate first velocity planning data from the first position to the second position based on the first position, first running data, second position, and second running data.

[0072] Step 202 will be described in detail below.

[0073] In some embodiments, after obtaining the first and second running data, in order to ensure that the mover can operate at the second time t e The moment is exactly at the second velocity t e Second acceleration a e Arrive at the second position p e It needs to be in the first position p s (i.e., the initial synchronization phase) Based on the first and second running data, the motion data planning of the mover is performed to generate data from the first position p. s To the second position p e The first velocity planning data. Its specific parameter calculation is based on the fifth-order polynomial programming formula, as shown in the following formula (1).

[0074]

[0075] Where t is the time parameter, p(t) is the time-related position parameter, v(t) is the time-related velocity parameter, a(t) is the time-related acceleration parameter, and {c0,c1,c2,c3,c4,c5} are all velocity planning parameters. Formula (1) is the fifth-order term description of position, velocity, and time. According to the planning shown in Formula (1), after determining the velocity planning parameters {c0,c1,c2,c3,c4,c5}, the position, velocity, and acceleration information at each moment can be determined.

[0076] Next, according to formula (1), at the first position p s Second position p e Perform a period of data planning to determine the starting point from position p. s To the second position p e The first velocity planning data is then generated. The following section further describes how to generate the first velocity planning data from the first position to the second position.

[0077] Reference Figure 3 The process involves generating first velocity planning data from the first position to the second position based on the first position, first running data, second position, and second running data, including the following steps 301 to 302.

[0078] Step 301: generating a position-velocity equation set based on the first position, the first running data, the second position, and the second running data.

[0079] Step 301 will be described in detail as follows.

[0080] In some embodiments, after obtaining the first position p s , the first running data, the second position p e , and the second running data, a position-velocity equation set for solving the velocity planning parameters {c0, c1, c2, c3, c4, c5} can be further generated by using the above formula (1). The velocity planning parameters {c0, c1, c2, c3, c4, c5} include a first sub-parameter c0, a second sub-parameter c1, a third sub-parameter c2, a fourth sub-parameter c3, a fifth sub-parameter c4, and a sixth sub-parameter c5. The position-velocity equation set includes a first position equation obtained from the first position p s , a second position equation obtained from the second position p e , a first velocity equation obtained from the first velocity v s , a second velocity equation obtained from the second velocity v e , a first acceleration equation obtained from the first acceleration a s , and a second acceleration equation obtained from the second acceleration a e . How to construct these equations will be further described as follows.

[0081] Referring to Figure 4 , generating a position-velocity equation set based on the first position, the first running data, the second position, and the second running data includes the following steps 401 to 405.

[0082] Step 401: obtaining a first parameter variable corresponding to the first sub-parameter, a second parameter variable corresponding to the second sub-parameter, a third parameter variable corresponding to the third sub-parameter, a fourth parameter variable corresponding to the fourth sub-parameter, a fifth parameter variable corresponding to the fifth sub-parameter, and a sixth parameter variable corresponding to the sixth sub-parameter.

[0083] Step 402: obtaining a first position multiplier based on a product of the fifth power of the first time and the first parameter variable, a second position multiplier based on a product of the fourth power of the first time and the second parameter variable, a third position multiplier based on a product of the cube of the first time and the third parameter variable, a fourth position multiplier based on a product of the square of the first time and the fourth parameter variable, and a fifth position multiplier based on a product of the first time and the fifth parameter variable.

[0084] Step 403: obtain a sixth position multiplier based on the product of the fifth power of the second time and the first parameter variable, a seventh position multiplier based on the product of the fourth power of the second time and the second parameter variable, an eighth position multiplier based on the product of the cube of the second time and the third parameter variable, a ninth position multiplier based on the product of the square of the second time and the fourth parameter variable, and a tenth position multiplier based on the product of the second time and the fifth parameter variable.

[0085] Step 404: accumulate the first position multiplier, the second position multiplier, the third position multiplier, the fourth position multiplier, the fifth position multiplier, and the sixth parameter variable to obtain a first position equal term, and obtain a first position equation based on the first position equal term and the first position.

[0086] Step 405: accumulate the sixth position multiplier, the seventh position multiplier, the eighth position multiplier, the ninth position multiplier, the tenth position multiplier, and the sixth parameter variable to obtain a second position equal term, and obtain a second position equation based on the second position equal term and the second position.

[0087] The steps 401 to 405 are described in detail as follows.

[0088] In some embodiments, in order to obtain accurate speed planning parameters {c0, c1, c2, c3, c4, c5}, first, a first parameter variable A corresponding to the first sub-parameter c0, a second parameter variable B corresponding to the second sub-parameter c1, a third parameter variable C corresponding to the third sub-parameter c2, a fourth parameter variable D corresponding to the fourth sub-parameter c3, a fifth parameter variable E corresponding to the fifth sub-parameter c4, and a sixth parameter variable F corresponding to the sixth sub-parameter c5 are obtained. Then, the first position equation, the second position equation, the first speed equation, the second speed equation, the first acceleration equation, and the second acceleration equation need to be constructed based on the first parameter variable A, the second parameter variable B, the third parameter variable C, the fourth parameter variable D, the fifth parameter variable E, and the sixth parameter variable F. The first position equation and the second position equation are described first as follows.

[0089] obtain a first position multiplier based on the product of the fifth power of the first time and the first parameter variable obtain a second position multiplier based on the product of the fourth power of the first time and the second parameter variable obtain a third position multiplier based on the product of the cube of the first time and the third parameter variable obtain a fourth position multiplier based on the product of the square of the first time and the fourth parameter variable obtain a fifth position multiplier based on the product of the first time and the fifth parameter variable E·t s .

[0090] and a sixth positional multiplier based on the product of the second time raised to the fifth power and a fifth parameter variable a seventh positional multiplier based on the product of the second time raised to the fourth power and a second parameter variable an eighth positional multiplier based on the product of the second time raised to the third power and a third parameter variable a ninth positional multiplier based on the product of the second time raised to the second power and a fourth parameter variable and a tenth positional multiplier based on the product of the second time and a fifth parameter variable E-t e .

[0091] then, accumulating the first positional multiplier the second positional multiplier the third positional multiplier the fourth positional multiplier the fifth positional multiplier E-t s and a sixth parameter variable F to obtain a first positional equalizer, and based on the first positional equalizer and the first position p s obtaining a first position equation as shown in the following equation (2).

[0092] p s = A-t s 5 +B-t s 4 +C-t s 3 +D-t s 2 +E-t s +F (2)

[0093] and accumulating the sixth positional multiplier the seventh positional multiplier the eighth positional multiplier the ninth positional multiplier the tenth positional multiplier E-t e and a sixth parameter variable F to obtain a second positional equalizer, and based on the second positional equalizer and the second position p e obtaining a second position equation as shown in the following equation (3).

[0094] p e = A-t e 5 +B-t e 4 +C-t e 3 +D-t e 2 +E-t e +F (3)

[0095] The first and second velocity equations are further described below.

[0096] Referring to Figure 5 The position velocity equation set is generated based on the first position, the first operation data, the second position, and the second operation data, including the following steps 501-505.

[0097] Step 501: a first velocity term is obtained based on a product of a fourth power of the first time and the first parameter variable, a second velocity term is obtained based on a product of a cubic of the first time and the second parameter variable, a third velocity term is obtained based on a product of a square of the first time and the third parameter variable, and a fourth velocity term is obtained based on a product of the first time and the fourth parameter variable.

[0098] Step 502: a fifth velocity term is obtained based on a product of a fourth power of the second time and the first parameter variable, a sixth velocity term is obtained based on a product of a cubic of the second time and the second parameter variable, a seventh velocity term is obtained based on a product of a square of the second time and the third parameter variable, and an eighth velocity term is obtained based on a product of the second time and the fourth parameter variable.

[0099] Step 503: a first velocity equal term is obtained by accumulating the first velocity term, the second velocity term, the third velocity term, the fourth velocity term, and the fifth parameter variable, and a first velocity equation is obtained based on the first velocity equal term and the first velocity.

[0100] Step 504: a second velocity equal term is obtained by accumulating the fifth velocity term, the sixth velocity term, the seventh velocity term, the eighth velocity term, and the fifth parameter variable, and a second velocity equation is obtained based on the second velocity equal term and the second velocity.

[0101] The steps 501-504 are described in detail below.

[0102] In some embodiments, the first velocity term is obtained based on a product of a fourth power of the first time and the first parameter variable the second velocity term is obtained based on a product of a cubic of the first time and the second parameter variable the third velocity term is obtained based on a product of a square of the first time and the third parameter variable and the fourth velocity term is obtained based on a product of the first time and the fourth parameter variable D·t s .

[0103] and the fifth velocity term is obtained based on a product of a fourth power of the second time and the first parameter variable the sixth velocity term is obtained based on a product of a cubic of the second time and the second parameter variable the seventh velocity term is obtained based on a product of a square of the second time and the third parameter variable and an eighth velocity term D-t based on the product of the second time and a fourth parameter variable e .

[0104] Next, a five-fold quantity of a first velocity term is accumulated a four-fold quantity of a second velocity term a three-fold quantity of a third velocity term a two-fold quantity of a fourth velocity term 4D-t s and a first velocity equation term based on the first velocity equation term and a first velocity v s The first velocity equation is given by the following equation (4).

[0105] v s = 5A-t s 4 + 4B-t s 3 + 3C-t s 2 + 2D-t s + E (4)

[0106] Next, a five-fold quantity of a fifth velocity term is accumulated a four-fold quantity of a sixth velocity term a three-fold quantity of a seventh velocity term a two-fold quantity of an eighth velocity term 4D-t e and a second velocity equation term based on the second velocity equation term and a second velocity v e The second velocity equation is given by the following equation (5).

[0107] v e = 5A-t e 4 + 4B-t e 3 + 3C-t e 2 + 2D-t e + E (5)

[0108] The first and second acceleration equations are further described below.

[0109] Referring to Figure 6 , a position velocity equation set is generated based on the first position, the first run data, the second position, and the second run data, including the following steps 601 to 605.

[0110] Step 601: obtain a first acceleration term based on a product of a cube of the first time and the first parameter variable, a second acceleration term based on a product of a square of the first time and the second parameter variable, and a third acceleration term based on a product of the first time and the third parameter variable.

[0111] Step 602: obtain a fourth acceleration term based on a product of a cube of the first time and the first parameter variable, a fifth acceleration term based on a product of a square of the first time and the second parameter variable, and a sixth acceleration term based on a product of the first time and the third parameter variable.

[0112] Step 603: accumulate the first acceleration term, the second acceleration term, the third acceleration term, and the fourth parameter variable to obtain a first acceleration equal term, and obtain a first acceleration equation based on the first acceleration equal term and the first acceleration.

[0113] Step 604: accumulate the fourth acceleration term, the fifth acceleration term, the sixth acceleration term, and the fourth parameter variable to obtain a second acceleration equal term, and obtain a second acceleration equation based on the second acceleration equal term and the second acceleration.

[0114] The steps 601 to 604 are described in detail as follows.

[0115] In some embodiments, the first acceleration term is obtained based on a product of a cube of the first time and the first parameter variable the second acceleration term is obtained based on a product of a square of the first time and the second parameter variable and the third acceleration term is obtained based on a product of the first time and the third parameter variable C·t s .

[0116] the fourth acceleration term is obtained based on a product of a cube of the first time and the first parameter variable the fifth acceleration term is obtained based on a product of a square of the first time and the second parameter variable and the sixth acceleration term is obtained based on a product of the first time and the third parameter variable C·t e .

[0117] Next, the first acceleration term is accumulated by twenty times the second acceleration term is accumulated by twelve times the third acceleration term is accumulated by six times 6C·t s and the fourth parameter variable is accumulated by two times 2D to obtain a first acceleration equal term, and a first acceleration equation is obtained based on the first acceleration equal term and the first acceleration a s The first acceleration equation is shown in the following formula (6).

[0118] a s= 20A t s 3 + 12B t s 2 + 6C t s + 2D (6)

[0119] and, the fourth acceleration multiplier term multiplied by twenty the fifth acceleration multiplier term multiplied by twelve the sixth acceleration multiplier term 6C t multiplied by six e and the fourth parameter variable 2D multiplied by two to obtain the first acceleration equal term, and based on the first acceleration equal term and the first acceleration a e The first acceleration equation is obtained as shown in the following equation (7).

[0120] a e = 20A t e 3 + 12B t e 2 + 6C t e + 2D (7)

[0121] Based on the first position equation (2), the second position equation (3), the first velocity equation (4), the second velocity equation (5), the first acceleration equation (6), and the second acceleration equation (7) obtained above, the position velocity equation set can be further combined as shown in the following equation (8).

[0122]

[0123] Step 302: solving the position velocity equation set to obtain the velocity planning parameters, and generating the initial planning velocity, the initial planning position, and the initial planning acceleration at each time from the first position to the second position based on the velocity planning parameters to obtain the first velocity planning data.

[0124] The step 302 is described in detail below.

[0125] In some embodiments, after obtaining the position velocity equation set (8), the position velocity equation set (8) is expressed in a matrix form as shown in the following equation (9).

[0126]

[0127] Then, the equation (9) is solved using the Gaussian elimination method or other methods to obtain the values of the first parameter variable A, the second parameter variable B, the third parameter variable C, the fourth parameter variable D, the fifth parameter variable E, and the sixth parameter variable F, which are respectively taken as the first sub-parameter c0, the second sub-parameter c1, the third sub-parameter c2, the fourth sub-parameter c3, the fifth sub-parameter c4, and the sixth sub-parameter c5.

[0128] Next, according to the speed planning parameters {c0, c1, c2, c3, c4, c5} and the above formula (1), the initial planning speed, the initial planning position and the initial planning acceleration at each time from the first position to the second position can be generated, and the initial planning speed, the initial planning position and the initial planning acceleration at each time are taken as the first speed planning data.

[0129] Referring to Figure 7 , the first speed planning data provided by the embodiments of the present application is shown. As Figure 7 shown, when the mover runs to the first position, a five-time running planning is performed on a segment using the first running data and the second running data required to reach the second position to obtain the position-time curve corresponding to the first speed planning data from the first position to the second position.

[0130] Through the above steps 301 to 302, the running data of the mover on the synchronous transition track is preliminarily planned using the first running data corresponding to the mover reaching the first position and the second running data required for the mover to reach the second position to determine the first speed planning data from the first position to the second position, thereby effectively improving the smoothness of the synchronous running control of the mover on the synchronous transition track.

[0131] Step 203: obtaining the speed control parameters according to the first speed planning data, and controlling the mover to move from the first position to the second position according to the speed control parameters.

[0132] The step 203 will be described in detail below.

[0133] In some embodiments, after determining the first speed planning data from the first position to the second position, since in the actual application process, in order to avoid the failure of the magnetic levitation conveying track, the mover cannot move in the opposite direction (i.e., the running direction opposite to the running speed direction of the first speed) during the actual synchronous control of the mover, it is necessary to further determine whether the initial planning speed in the first speed planning data has a speed reversal. How to determine the speed control parameters according to the determination result and the first speed planning data will be described further below.

[0134] Referring to Figure 8 , obtaining the speed control parameters according to the first speed planning data includes the following steps 801 to 802.

[0135] Step 801: when the initial planning speed in the first speed planning data does not have a speed reversal, obtaining the speed control parameters according to the first speed planning data.

[0136] Step 801 is described in detail below.

[0137] In some embodiments, after the initial planning speed at each moment from the first position to the second position is generated, the initial planning speed curve at each moment can be directly generated. Referring to Figure 9 , it is a schematic diagram of the initial planning speed curve provided by the embodiments of the present application. As shown in Figure 9 , after the initial planning speed at each moment from the first position to the second position is generated, the initial planning speed curve between the first time and the second time can be directly generated. Then, whether there is a speed point less than 0 can be determined from the initial planning speed curve, so that whether the initial planning speed in the initial planning speed curve has a speed reversal can be determined. Referring to Figure 10 , it is a schematic diagram of the initial planning speed having a speed reversal provided by the embodiments of the present application. As shown in Figure 10 , when it is determined that the initial planning speed curve generated by the initial planning speed in the first speed planning data has a situation less than 0, it is determined that the initial planning speed in the first speed planning data has a speed reversal.

[0138] In some embodiments, whether the initial planning speed in the first speed planning data has a speed reversal can also be determined by another method, which is described as follows. First, based on the obtained speed planning parameters {c0, c1, c2, c3, c4, c5}, the acceleration formula in the above formula (1) is used to obtain the time point t a0 The corresponding formula (10) is as follows.

[0139]

[0140] By solving the formula (10), the time point t a0 at which the initial planning acceleration in the first speed planning data is 0 can be determined. Next, the speed formula is used to calculate the corresponding initial planning speed v a0 at the time point t a0 at which the initial planning acceleration in the first speed planning data is 0. The corresponding initial planning speed v a0 is as shown in the following formula (11).

[0141] v a0 = t a0 (3t a0 ·c0+2c1)+v s (11)

[0142] Then, whether the time point t a0 corresponding initial planning speed v a0 is equal to the first speed v swhether the initial planning speed in the first speed planning data has a speed reversal.

[0143] When it is determined that the initial planning speed in the first speed planning data has no speed reversal, it is proved that the first speed planning data obtained by the initial planning meets the safety requirements of the maglev conveying track, i.e., the first speed planning data is directly taken as the speed planning parameter, and the mover is controlled to move from the first position to the second position according to the speed planning parameter.

[0144] Step 802: When the initial planning speed in the first speed planning data has a speed reversal, the position of the first speed reversal is taken as the target adjustment position, and the speed control parameter is obtained based on the target adjustment position and the first speed planning data.

[0145] The step 802 will be described in detail below.

[0146] In some embodiments, when it is determined that the initial planning speed in the first speed planning data has a speed reversal, the position of the first speed reversal will be determined first. It can be found by, for example, taking the initial planning position corresponding to the time point of the first speed reversal time point (i.e., the time point at which the first speed is 0) in the initial planning speed-time curve as the position of the first speed reversal p1. Figure 10 The equation set of the speed reversal point shown in the following formula (12) can also be obtained by using the speed formula in the above formula (1).

[0147] 5c0t 4 +4c1t 3 +3c2t 2 +2c3t+c4=0 (12)

[0148] Then at least one solution root can be obtained by solving the formula (12), and then the position of the first speed reversal p1 is taken as the position of the first speed reversal p1. v1 Then the initial planning position corresponding to the time point t v1 at which the first speed is 0 in the first speed planning data is taken as the position of the first speed reversal p1. Then, the initial planning position of the first speed reversal is taken as the target adjustment position, and the speed planning parameter is obtained based on the target adjustment position. How to obtain the speed planning parameter by using the target adjustment position will be described further below.

[0149] Referring to Figure 11 , the speed control parameter is obtained based on the target adjustment position and the first speed planning data, including the following steps 1101 to step 1104.

[0150] Step 1101: obtaining first speed planning data between the target adjustment position and the first position, to obtain first target planning data, the first target planning data including target adjustment parameters at each time.

[0151] Step 1102: taking the target adjustment position as the first position, and setting the first speed and the first acceleration in the first running data to zero.

[0152] Step 1103: generating second target adjustment planning data from the target adjustment position to the second position based on the updated first position, the updated first running data, the second position and the second running data.

[0153] Step 1104: obtaining speed control parameters based on the first target planning data and the second target planning data.

[0154] The steps 1101 to 1104 are described in detail as follows.

[0155] In some embodiments, after the target adjustment position is determined, first, initial planning data between the target adjustment position and the first position is obtained to obtain first target planning data, and the first target planning data includes first target planning parameters at each time. It can be understood that the obtained first target planning data is first speed planning data (i.e., part of the first speed planning data) from the first position to the target adjustment position, and the first target planning parameters are the part of the first speed planning data.

[0156] Next, the target adjustment position is taken as a new first position, and the first speed and the first acceleration in the first running data are set to zero to obtain new boundary conditions as shown in the following formula (13).

[0157]

[0158] Then, a piece of running data planning is performed again by similar steps of the steps 301 to 302 based on the updated first position, the updated first running data, the second position and the second running data, i.e., the above formula (13), to obtain second target planning parameters corresponding to the first planning data, wherein the second target planning parameters include planning running data from the target adjustment position to the second position. Next, speed planning parameters are obtained based on the first target planning parameters and the second target planning parameters, and the mover is controlled to move from the first position to the second position according to the speed planning parameters.

[0159] Reference Figure 12 is a schematic diagram of first target planning data and second target planning data provided by an embodiment of the present application. As shown in Figure 12As shown, when the initial planning speed has a speed reversal, the position corresponding to the first speed reversal is taken as the target adjustment position, the first speed planning data between the first position and the target adjustment position is retained and taken as the first target planning data, and the initial planning speed and the initial planning acceleration corresponding to the target adjustment position are set to 0. Next, the second speed planning data from the target adjustment position to the second position is obtained according to the target adjustment position, the initial planning speed and the initial planning acceleration corresponding to the target adjustment position, and the second position and the second running data, and the first target planning data and the second target planning data are taken as the speed planning parameters.

[0160] Through the steps 801 to 802 and the steps 1101 to 1104, when the speed reversal exists, the second running data planning is re-performed while the first target planning data is retained, so as to avoid the malfunction of the maglev conveying system, and to improve the reliability and safety of the mover in the synchronous running planning.

[0161] The mover running control method for the synchronous transition track and the related equipment provided in the embodiments of the present application, the synchronous transition track includes a first position and a second position, the method includes: first, obtaining the first running data of the mover reaching the first position, and the second running data required when the mover reaches the second position; then, generating a position speed equation set based on the first position, the first running data, the second position and the second running data, solving the position speed equation set to obtain speed planning parameters, and generating the initial planning speed, the initial planning position and the initial planning acceleration at each moment from the first position to the second position based on the speed planning parameters to obtain the first speed planning data; next, when the initial planning speed in the first speed planning data does not have a speed reversal, obtaining the speed control parameters according to the first speed planning data; when the initial planning speed in the first speed planning data has a speed reversal, taking the position of the first speed reversal as the target adjustment position, and obtaining the first speed planning data between the target adjustment position and the first position to obtain the first target planning data, taking the target adjustment position as the first position, and setting the first speed and the first acceleration in the first running data to 0, generating the second target adjustment planning data from the target adjustment position to the second position based on the updated first position, the updated first running data, the second position and the second running data, and obtaining the speed control parameters based on the first target planning data and the second target planning data; finally, controlling the mover to move from the first position to the second position according to the speed control parameters.

[0162] The embodiment of the present application utilizes the first speed planning data generated by the first operation data when the mover reaches the first position and the second operation data required when the mover reaches the second position, and gradually generates the speed control parameter for smooth control between the first position and the second position, thereby effectively improving the smoothness of the synchronous operation of the mover in the synchronous transition track and reducing the risk of failure of the mover; and by judging whether the initial planning speed has a speed reversal, when there is a speed reversal, the second operation data planning is re-performed while the first target planning data is retained, thereby avoiding failure of the magnetic levitation conveying system to improve the reliability and safety of the mover in the synchronous operation planning.

[0163] The embodiment of the present application also provides a mover operation control device for a synchronous transition track, which can implement the mover operation control method for a synchronous transition track, and refer to Figure 13 The device 1300 comprises:

[0164] The data acquisition module 1310 is configured to acquire the first operation data of the mover reaching the first position and the second operation data required when the mover reaches the second position.

[0165] The data generation module 1320 is configured to generate the first speed planning data from the first position to the second position based on the first position, the first operation data, the second position and the second operation data.

[0166] The control module 1330 is configured to obtain the speed control parameter according to the first speed planning data, and control the mover to move from the first position to the second position according to the speed control parameter.

[0167] In some embodiments, the data generation module 1320 is further configured to:

[0168] generate a position-speed equation set based on the first position, the first operation data, the second position and the second operation data;

[0169] solve the position-speed equation set to obtain the speed planning parameter, and generate the initial planning speed, the initial planning position and the initial planning acceleration at each time from the first position to the second position based on the speed planning parameter, to obtain the first speed planning data.

[0170] In some embodiments, the mover operation control device 1300 for a synchronous transition track further comprises a control parameter determination module 1340, and the control parameter determination module 1340 is configured to:

[0171] when the initial planning speed in the first speed planning data does not have a speed reversal, obtain the speed control parameter according to the first speed planning data;

[0172] When the initial planned speed in the first speed planning data has a speed reversal, a position of the first speed reversal is used as a target adjustment position, and a speed control parameter is obtained based on the target adjustment position and the first speed planning data.

[0173] In some embodiments, the control parameter determination module 1340 is further configured to:

[0174] obtain first target planning data from the first speed planning data between the target adjustment position and the first position, the first target planning data including a target adjustment parameter at each time point;

[0175] set the target adjustment position as the first position, and set the first speed and the first acceleration in the first running data to zero;

[0176] generate second target adjustment planning data from the target adjustment position to the second position based on the updated first position, the updated first running data, the second position, and the second running data;

[0177] obtain the speed control parameter based on the first target planning data and the second target planning data.

[0178] In some embodiments, the data generation module 1320 is further configured to:

[0179] obtain a first parameter variable corresponding to the first sub-parameter, a second parameter variable corresponding to the second sub-parameter, a third parameter variable corresponding to the third sub-parameter, a fourth parameter variable corresponding to the fourth sub-parameter, a fifth parameter variable corresponding to the fifth sub-parameter, and a sixth parameter variable corresponding to the sixth sub-parameter;

[0180] obtain a first position multiplier based on a product of the fifth power of the first time and the first parameter variable, a second position multiplier based on a product of the fourth power of the first time and the second parameter variable, a third position multiplier based on a product of the cube of the first time and the third parameter variable, a fourth position multiplier based on a product of the square of the first time and the fourth parameter variable, and a fifth position multiplier based on a product of the first time and the fifth parameter variable;

[0181] obtain a sixth position multiplier based on a product of the fifth power of the second time and the first parameter variable, a seventh position multiplier based on a product of the fourth power of the second time and the second parameter variable, an eighth position multiplier based on a product of the cube of the second time and the third parameter variable, a ninth position multiplier based on a product of the square of the second time and the fourth parameter variable, and a tenth position multiplier based on a product of the second time and the fifth parameter variable;

[0182] accumulate the first position multiplication term, the second position multiplication term, the third position multiplication term, the fourth position multiplication term, the fifth position multiplication term, and the sixth parameter variable to obtain a first position equal term, and obtain a first position equation based on the first position equal term and the first position;

[0183] accumulate the sixth position multiplication term, the seventh position multiplication term, the eighth position multiplication term, the ninth position multiplication term, the tenth position multiplication term, and the sixth parameter variable to obtain a second position equal term, and obtain a second position equation based on the second position equal term and the second position.

[0184] In some embodiments, the data generation module 1320 is further configured to:

[0185] obtain a first velocity multiplication term based on a fourth power of the first time multiplied by the first parameter variable, a second velocity multiplication term based on a cube of the first time multiplied by the second parameter variable, a third velocity multiplication term based on a square of the first time multiplied by the third parameter variable, and a fourth velocity multiplication term based on the first time multiplied by the fourth parameter variable;

[0186] obtain a fifth velocity multiplication term based on a fourth power of the second time multiplied by the first parameter variable, a sixth velocity multiplication term based on a cube of the second time multiplied by the second parameter variable, a seventh velocity multiplication term based on a square of the second time multiplied by the third parameter variable, and an eighth velocity multiplication term based on the second time multiplied by the fourth parameter variable;

[0187] accumulate the first velocity multiplication term, the second velocity multiplication term, the third velocity multiplication term, the fourth velocity multiplication term, and the fifth parameter variable to obtain a first velocity equal term, and obtain a first velocity equation based on the first velocity equal term and the first velocity;

[0188] accumulate the fifth velocity multiplication term, the sixth velocity multiplication term, the seventh velocity multiplication term, the eighth velocity multiplication term, and the fifth parameter variable to obtain a second velocity equal term, and obtain a second velocity equation based on the second velocity equal term and the second velocity.

[0189] In some embodiments, the data generation module 1320 is further configured to:

[0190] obtain a first acceleration multiplication term based on a cube of the first time multiplied by the first parameter variable, a second acceleration multiplication term based on a square of the first time multiplied by the second parameter variable, and a third acceleration multiplication term based on the first time multiplied by the third parameter variable;

[0191] obtain a fourth acceleration multiplication term based on a cube of the first time multiplied by the first parameter variable, a fifth acceleration multiplication term based on a square of the first time multiplied by the second parameter variable, and a sixth acceleration multiplication term based on the first time multiplied by the third parameter variable;

[0192] The first acceleration equal term is obtained by accumulating the first acceleration multiplication term, the second acceleration multiplication term, the third acceleration multiplication term, and the fourth parameter variable, and the first acceleration equation is obtained based on the first acceleration equal term and the first acceleration;

[0193] The second acceleration equal term is obtained by accumulating the fourth acceleration multiplication term, the fifth acceleration multiplication term, the sixth acceleration multiplication term, and the fourth parameter variable, and the second acceleration equation is obtained based on the second acceleration equal term and the second acceleration.

[0194] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment are basically the same as the specific implementation of the mover running control device of the synchronous transition track and the specific implementation of the synchronous transition track mover running control method described above. Here, it will not be repeated.

[0195] In the embodiments of the present application, the mover running control device of the synchronous transition track gradually generates the speed control parameters for smooth control between the first position and the second position by using the first speed planning data generated by the first running data when the mover reaches the first position and the second running data required for the mover to reach the second position. Thus, the smoothness of the synchronous running of the mover in the synchronous transition track is effectively improved, and the risk of failure of the mover is reduced. Furthermore, by judging whether there is a speed reversal in the initial planning speed, when there is a speed reversal, the second running data planning is re-performed while the first target planning data is retained, thereby avoiding failure of the maglev conveying system to improve the reliability and safety of the mover in the synchronous running planning.

[0196] The embodiments of the present application also provide an electronic device, comprising:

[0197] At least one memory;

[0198] At least one processor;

[0199] At least one program;

[0200] The program is stored in the memory, and the processor executes the at least one program to implement the mover running control method of the synchronous transition track described above. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a vehicle-mounted computer, etc.

[0201] Please refer to Figure 14 , Figure 14 The hardware structure of the electronic device of another embodiment is illustrated, and the electronic device comprises:

[0202] The processor 1401 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0203] The memory 1402 can be implemented by a ROM (Read Only Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory), etc. The memory 1402 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 1402 and are called and executed by the processor 1401 to implement the mover running control method of the synchronous transition track.

[0204] The input / output interface 1403 is configured to implement information input and output.

[0205] The communication interface 1404 is configured to implement the communication interaction between the device and other devices. The communication can be realized by a wired manner (for example, a USB, a network cable, etc.) or a wireless manner (for example, a mobile network, WIFI, Bluetooth, etc.).

[0206] The bus 1405 is configured to transmit information between various components (for example, the processor 1401, the memory 1402, the input / output interface 1403, and the communication interface 1404) of the device.

[0207] The processor 1401, the memory 1402, the input / output interface 1403, and the communication interface 1404 are connected to each other through the bus 1405 to realize the communication connection between the device.

[0208] The embodiments of the present application further provide a storage medium, which is a computer readable storage medium, and stores a computer program. The computer program is executed by a processor to implement the above-mentioned mover running control method of the synchronous transition track.

[0209] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include a high-speed random access memory and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory disposed remotely from the processor, which can be connected to the processor through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0210] The embodiments described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0211] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and can include more or fewer steps than shown in the figures, or combine certain steps or different steps.

[0212] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0213] Those skilled in the art can understand that all or some of the steps in the above disclosed method, the functional modules / units in the system and the device can be implemented as software, firmware, hardware and appropriate combinations thereof.

[0214] The terms "first", "second", "third", "fourth" and the like used in the specification of the present application and the above-described drawings (if any) are used to distinguish similar objects, and do not necessarily have to describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0215] It should be understood that, in the application, "at least one" refers to one or more, and "multiple" refers to two or more. "And / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent three cases of only A, only B and A and B existing at the same time, wherein A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can represent a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b and c can be single or multiple.

[0216] In several embodiments provided in the application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the above units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

[0217] The units described above as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0218] In addition, each functional unit in each embodiment of the application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0219] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program storage media.

[0220] The preferred embodiments of the embodiments of the present application are described above with reference to the accompanying drawings, and are not limited to the scope of the embodiments of the present application. Any modifications, equivalent replacements and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the embodiments of the present application.

Claims

1. A method for controlling the movement of a mover on a synchronous transition track, characterized in that, The synchronous transition track includes a first position and a second position, and the method includes: Acquire first operational data when the mover reaches the first position, and second operational data required when the mover reaches the second position; Based on the first position, the first running data, the second position, and the second running data, generate first speed planning data from the first position to the second position; Speed ​​control parameters are obtained based on the first speed planning data, and the mover is controlled to move from the first position to the second position based on the speed control parameters; The process of generating first velocity planning data from the first position to the second position based on the first position, the first running data, the second position, and the second running data includes: A set of position-velocity equations is generated based on the first position, the first running data, the second position, and the second running data. Solve the position-velocity equations to obtain velocity planning parameters, and generate the initial planned velocity, initial planned position, and initial planned acceleration for each moment from the first position to the second position based on the velocity planning parameters to obtain the first velocity planning data; The first operational data includes a first velocity, a first acceleration, and a first time; the second operational data includes a second velocity, a second time, and a second acceleration; the position-velocity equation set includes a first position equation and a second position equation; the velocity planning parameters include a first sub-parameter, a second sub-parameter, a third sub-parameter, a fourth sub-parameter, a fifth sub-parameter, and a sixth sub-parameter; generating the position-velocity equation set based on the first position, the first operational data, the second position, and the second operational data includes: Obtain the first parameter variable corresponding to the first sub-parameter, the second parameter variable corresponding to the second sub-parameter, the third parameter variable corresponding to the third sub-parameter, the fourth parameter variable corresponding to the fourth sub-parameter, the fifth parameter variable corresponding to the fifth sub-parameter, and the sixth parameter variable corresponding to the sixth sub-parameter; The first positional multiplication term is obtained by multiplying the first time to the fifth power and the first parameter variable; the second positional multiplication term is obtained by multiplying the first time to the fourth power and the second parameter variable; the third positional multiplication term is obtained by multiplying the first time to the cube and the third parameter variable; the fourth positional multiplication term is obtained by multiplying the first time to the square and the fourth parameter variable; and the fifth positional multiplication term is obtained by multiplying the first time and the fifth parameter variable. The sixth position multiplication term is obtained by multiplying the second time to the fifth power and the first parameter variable; the seventh position multiplication term is obtained by multiplying the second time to the fourth power and the second parameter variable; the eighth position multiplication term is obtained by multiplying the second time to the cube and the third parameter variable; the ninth position multiplication term is obtained by multiplying the second time to the square and the fourth parameter variable; and the tenth position multiplication term is obtained by multiplying the second time and the fifth parameter variable. The first position multiplication term, the second position multiplication term, the third position multiplication term, the fourth position multiplication term, the fifth position multiplication term, and the sixth parameter variable are added together to obtain the first position equal term, and the first position equation is obtained based on the first position equal term and the first position; The sixth position multiplication term, the seventh position multiplication term, the eighth position multiplication term, the ninth position multiplication term, the tenth position multiplication term, and the sixth parameter variable are added together to obtain the second position equal term, and the second position equation is obtained based on the second position equal term and the second position.

2. The method for controlling the movement of a synchronous transition track according to claim 1, characterized in that, The step of obtaining speed control parameters based on the first speed planning data includes: When there is no speed reversal in the initial planned speed in the first speed planning data, the speed control parameters are obtained based on the first speed planning data; When there is a speed reversal in the initial planned speed in the first speed planning data, the position of the first speed reversal is used as the target adjustment position, and the speed control parameters are obtained based on the target adjustment position and the first speed planning data.

3. The method for controlling the movement of a synchronous transition track according to claim 2, characterized in that, The process of obtaining the speed control parameters based on the target adjustment position and the first speed planning data includes: The first velocity planning data between the target adjustment position and the first position is obtained to obtain the first target planning data, which includes the target adjustment parameters at each time step. The target position is adjusted to be the first position, and the first velocity and first acceleration in the first running data are set to zero. Based on the updated first position, the updated first running data, the second position, and the second running data, generate second target adjustment planning data from the target adjustment position to the second position; The speed control parameters are obtained based on the first target planning data and the second target planning data.

4. The method for controlling the movement of the mover in a synchronous transition track according to claim 1, characterized in that, The position-velocity equation set further includes a first velocity equation and a second velocity equation. The process of generating the position-velocity equation set based on the first position, the first operating data, the second position, and the second operating data further includes: The first velocity term is obtained by multiplying the first time to the fourth power and the first parameter variable; the second velocity term is obtained by multiplying the first time to the cube and the second parameter variable; the third velocity term is obtained by multiplying the first time to the square and the third parameter variable; and the fourth velocity term is obtained by multiplying the first time and the fourth parameter variable. The fifth velocity term is obtained by multiplying the second time to the fourth power and the first parameter variable; the sixth velocity term is obtained by multiplying the second time to the cube and the second parameter variable; the seventh velocity term is obtained by multiplying the second time to the square and the third parameter variable; and the eighth velocity term is obtained by multiplying the second time and the fourth parameter variable. The first velocity term is obtained by summing the first velocity term, the second velocity term, the third velocity term, the fourth velocity term, and the fifth parameter variable, and the first velocity term is obtained based on the first velocity term and the first velocity. The fifth velocity multiplication term, the sixth velocity multiplication term, the seventh velocity multiplication term, the eighth velocity multiplication term, and the fifth parameter variable are added together to obtain the second velocity term, and the second velocity equation is obtained based on the second velocity term and the second velocity.

5. The method for controlling the movement of a synchronous transition track according to claim 4, characterized in that, The position-velocity equation set further includes a first acceleration equation and a second acceleration equation. The process of generating the position-velocity equation set based on the first position, the first operational data, the second position, and the second operational data further includes: The first acceleration term is obtained by multiplying the cube of the first time and the first parameter variable; the second acceleration term is obtained by multiplying the square of the first time and the second parameter variable; and the third acceleration term is obtained by multiplying the first time and the third parameter variable. The fourth acceleration term is obtained by multiplying the cube of the first time and the first parameter variable; the fifth acceleration term is obtained by multiplying the square of the first time and the second parameter variable; and the sixth acceleration term is obtained by multiplying the first time and the third parameter variable. The first acceleration term, the second acceleration term, the third acceleration term, and the fourth parameter variable are summed to obtain the first acceleration term, and the first acceleration equation is obtained based on the first acceleration term and the first acceleration. The fourth acceleration multiplication term, the fifth acceleration multiplication term, the sixth acceleration multiplication term, and the fourth parameter variable are summed to obtain the second acceleration term, and the second acceleration equation is obtained based on the second acceleration term and the second acceleration.

6. A mover operation control device for a synchronous transition track, characterized in that, The synchronous transition track includes a first position and a second position, and the device includes: The data acquisition module is used to acquire first running data when the mover reaches the first position, and second running data required when the mover reaches the second position; The data generation module is used to generate first speed planning data from the first position to the second position based on the first position, the first running data, the second position, and the second running data; The control module is used to obtain speed control parameters based on the first speed planning data, and control the mover to move from the first position to the second position based on the speed control parameters; The process of generating first velocity planning data from the first position to the second position based on the first position, the first running data, the second position, and the second running data includes: A set of position-velocity equations is generated based on the first position, the first running data, the second position, and the second running data. Solve the position-velocity equations to obtain velocity planning parameters, and generate the initial planned velocity, initial planned position, and initial planned acceleration for each moment from the first position to the second position based on the velocity planning parameters to obtain the first velocity planning data; The first operational data includes a first velocity, a first acceleration, and a first time; the second operational data includes a second velocity, a second time, and a second acceleration; the position-velocity equation set includes a first position equation and a second position equation; the velocity planning parameters include a first sub-parameter, a second sub-parameter, a third sub-parameter, a fourth sub-parameter, a fifth sub-parameter, and a sixth sub-parameter; generating the position-velocity equation set based on the first position, the first operational data, the second position, and the second operational data includes: Obtain the first parameter variable corresponding to the first sub-parameter, the second parameter variable corresponding to the second sub-parameter, the third parameter variable corresponding to the third sub-parameter, the fourth parameter variable corresponding to the fourth sub-parameter, the fifth parameter variable corresponding to the fifth sub-parameter, and the sixth parameter variable corresponding to the sixth sub-parameter; The first positional multiplication term is obtained by multiplying the first time to the fifth power and the first parameter variable; the second positional multiplication term is obtained by multiplying the first time to the fourth power and the second parameter variable; the third positional multiplication term is obtained by multiplying the first time to the cube and the third parameter variable; the fourth positional multiplication term is obtained by multiplying the first time to the square and the fourth parameter variable; and the fifth positional multiplication term is obtained by multiplying the first time and the fifth parameter variable. The sixth position multiplication term is obtained by multiplying the second time to the fifth power and the first parameter variable; the seventh position multiplication term is obtained by multiplying the second time to the fourth power and the second parameter variable; the eighth position multiplication term is obtained by multiplying the second time to the cube and the third parameter variable; the ninth position multiplication term is obtained by multiplying the second time to the square and the fourth parameter variable; and the tenth position multiplication term is obtained by multiplying the second time and the fifth parameter variable. The first position multiplication term, the second position multiplication term, the third position multiplication term, the fourth position multiplication term, the fifth position multiplication term, and the sixth parameter variable are added together to obtain the first position equal term, and the first position equation is obtained based on the first position equal term and the first position; The sixth position multiplication term, the seventh position multiplication term, the eighth position multiplication term, the ninth position multiplication term, the tenth position multiplication term, and the sixth parameter variable are added together to obtain the second position equal term, and the second position equation is obtained based on the second position equal term and the second position.

7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the motion control method for the synchronous transition track as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the motion control method for the synchronous transition track as described in any one of claims 1 to 5.

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