Warning signal generation method, device and computer equipment

Abstract

The present application relates to a method, device and computer equipment for generating a warning signal. The method comprises: obtaining the actual position, movement speed and correction time parameter of the moving component on the corresponding track component at the current time; determining the position offset of the moving component at the current time based on the movement speed and the correction time parameter; determining the correction position of the moving component at the current time based on the actual position and the position offset; generating a warning signal of the moving component when the difference between the correction position and the simulated position of the moving component is greater than or equal to a preset difference threshold; wherein the simulated position is the position corresponding to the current time after the moving component moves based on the sending time of the start movement instruction. The use of this method can improve the accuracy of the generation of warning signals.

Description

Technical Field

[0001] The present application relates to the field of magnetic drive conveying technology, and in particular to a method, device, computer equipment, storage medium and computer program product for generating an early warning signal. Background Art

[0002] With the continuous development of vehicle transportation technology, the magnetic levitation gantry system came into being. This system uses magnetic levitation technology to build a gantry structure that can support and move objects without physical contact. Through precise electromagnetic force control, the system achieves high-precision control of the position of the trolley. The magnetic levitation gantry system usually has two trolleys driving the gantry plate to move at the same time. However, during the operation of the system, the trolley often overshoots, that is, when the trolley reaches the predetermined position due to inertia or other factors, it exceeds the predetermined position, which causes the position of the trolleys on the left and right sides to deviate, which in turn causes the gantry error to increase, and then causes the gantry to twist, affecting the transportation of objects.

[0003] In traditional technology, when the car sends a motion command, the car's movement is usually simulated and the deviation between the simulated car and the actual car during movement is used to determine whether the car will overshoot. However, the deviation obtained in this way shows an irregular and rapidly changing trend, making it difficult to accurately predict whether the car will overshoot. Therefore, the problem of car overshoot cannot be effectively solved. Summary of the invention

[0004] Based on this, it is necessary to provide a warning signal generation method, device, computer equipment, computer readable storage medium and computer program product to address the above technical problems.

[0005] In a first aspect, the present application provides a method for generating a warning signal, which is applied to a controller of a magnetic levitation gantry system, wherein the magnetic levitation gantry system includes a dual track assembly, a plurality of gantry plates are arranged between the dual track assemblies, and motion assemblies are arranged at both ends of the gantry plates, the motion assemblies are adapted to the corresponding track assemblies, and the motion assemblies are electrically connected to the controller, and the method includes:

[0006] Obtaining the actual position, movement speed, and correction time parameters of the motion component on the corresponding track component at the current time; wherein the correction time parameters include the time difference between the sending time of the motion component start movement instruction and the start time of the actual movement of the motion component;

[0007] Determining the position offset of the moving component at the current time based on the moving speed and the corrected time parameter;

[0008] Determining a corrected position of the motion component at the current time based on the actual position and the position offset;

[0009] When the difference between the corrected position and the simulated position of the motion component is greater than or equal to a preset difference threshold, a warning signal of the motion component is generated; wherein, the simulated position is the position corresponding to the current time after the motion component moves based on the sending time of the start motion instruction.

[0010] In one embodiment, the method for obtaining the correction time parameter includes:

[0011] Establish control models for motion components;

[0012] Acquire sample data of the control model; wherein the sample data includes the time when the motion instruction is sent to the motion component and the start time when the motion component actually moves;

[0013] The sample data is input into the control model to obtain the correction time parameters of the motion component through training.

[0014] In one embodiment, the method further comprises:

[0015] The parameters of the control model are adjusted using the difference between the corrected position and the simulated position of the motion component.

[0016] In one embodiment, when the difference between the corrected position and the simulated position of the moving component is greater than or equal to a preset threshold, generating a warning signal of the moving component includes:

[0017] Using a preset time interval and according to the corrected position and the simulated position, a difference set between the corrected position and the simulated position is obtained;

[0018] When there are a continuous preset number of differences in the difference set that are greater than or equal to a preset difference threshold, a warning signal for the motion component is generated.

[0019] In one embodiment, the difference threshold includes a first difference threshold and a second difference threshold; when there are a continuous preset number of differences in the difference set that are greater than or equal to the preset difference threshold, generating a warning signal of the motion component includes:

[0020] When there are a preset number of consecutive differences in the difference set that are greater than or equal to the first difference threshold, generating a mild warning signal for the motion component;

[0021] When there are a continuous preset number of differences in the difference set that are greater than or equal to the second difference threshold, a severe warning signal for the motion component is generated.

[0022] In one embodiment, the movement speed includes:

[0023] At least one of the movement speed of the moving component on the corresponding track at the current time or the simulated movement speed corresponding to the simulated position.

[0024] In a second aspect, the present application further provides a warning signal generating device, which is applied to a controller of a magnetic levitation gantry system, wherein the magnetic levitation gantry system includes a double track assembly, a plurality of gantry plates are arranged between the double track assemblies, and a motion assembly is arranged at both ends of the gantry plate, the motion assembly is adapted to the corresponding track assembly, and the motion assembly is electrically connected to the controller, and the device includes:

[0025] A data acquisition module, used to acquire the actual position, movement speed, and correction time parameters of the motion component on the corresponding track component at the current time; wherein the correction time parameters include the time difference between the sending time of the motion component start movement instruction and the start time of the actual movement of the motion component;

[0026] An offset determination module, used to determine the position offset of the motion component at the current time based on the motion speed and the correction time parameter;

[0027] A corrected position determination module, used to determine the corrected position of the motion component at the current time based on the actual position and the position offset;

[0028] A warning signal generating module is used to generate a warning signal for the motion component when the difference between the corrected position and the simulated position of the motion component is greater than or equal to a preset difference threshold; wherein the simulated position is the position corresponding to the current time after the motion component moves based on the sending time of the start motion instruction.

[0029] In one embodiment, the data acquisition module includes:

[0030] A model building submodule is used to build a control model for motion components;

[0031] A sample acquisition submodule, used to acquire sample data of the control model; wherein the sample data includes the time when the motion instruction is sent to the motion component and the start time when the motion component actually moves;

[0032] The correction time parameter determination submodule is used to input the sample data into the control model to train and obtain the correction time parameters of the motion component.

[0033] In one embodiment, the device further comprises:

[0034] The model optimization submodule is used to adjust the parameters of the control model by using the difference between the corrected position and the simulated position of the motion component.

[0035] In one embodiment, the warning signal generating module includes:

[0036] A difference set acquisition submodule, used for obtaining a difference set between the corrected position and the simulated position according to the corrected position and the simulated position at a preset time interval;

[0037] The warning signal generating submodule is used to generate a warning signal for the motion component when there are a continuous preset number of differences in the difference set that are greater than or equal to a preset difference threshold.

[0038] In one embodiment, the difference threshold includes a first difference threshold and a second difference threshold; the warning signal generation submodule includes:

[0039] a warning signal generating unit, configured to generate a mild warning signal for the motion component when there are a preset number of consecutive differences in the difference set that are greater than or equal to the first difference threshold;

[0040] The warning signal generating unit is further configured to generate a severe warning signal for the motion component when there are a continuous preset number of differences in the difference set that are greater than or equal to the second difference threshold.

[0041] In one embodiment, the movement speed includes:

[0042] At least one of the movement speed of the moving component on the corresponding track at the current time or the simulated movement speed corresponding to the simulated position.

[0043] In a third aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method for generating a warning signal as described in any one of the embodiments of the present disclosure is implemented.

[0044] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for generating a warning signal as described in any one of the embodiments of the present disclosure is implemented.

[0045] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for generating a warning signal as described in any one of the embodiments of the present disclosure is implemented.

[0046] The above-mentioned warning signal generation method, device, computer equipment, storage medium and computer program product obtain the corrected position of the motion component by using the actual position, motion speed and correction time parameters of the motion component, and use the difference between the corrected position and the simulated position to determine whether to generate a corresponding warning signal. By introducing the correction time parameter, the time difference between the motion component starting to send the motion instruction and the actual start time is taken into account, so that the position offset and the corrected position can be accurately calculated, and the accuracy of the difference and the accuracy of the warning signal generation are improved. By obtaining the actual position, speed and correction time parameters of the motion component on the track in real time, the position offset of the motion component at the current time can be accurately determined and the position can be corrected, which is helpful to achieve precise control and movement of the motion component and improve the stability and accuracy of the controller. When the difference between the corrected position and the simulated position of the motion component is greater than or equal to the preset difference threshold, a warning signal is generated, abnormal conditions can be detected in time, and warning signals are used to prompt, so that measures can be taken in time, further ensuring the safety and reliability of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic diagram of a process of generating a warning signal in one embodiment;

[0048] Figure 2 A schematic diagram of a process for obtaining a correction time parameter in one embodiment;

[0049] Figure 3 A schematic diagram of a first process of generating a warning signal in one embodiment;

[0050] Figure 4 A second flow chart of generating a warning signal in one embodiment;

[0051] Figure 5 A schematic diagram of a flow chart of an implementation of a method for generating a warning signal in an embodiment;

[0052] Figure 6 is a structural block diagram of a warning signal generating device in one embodiment;

[0053] Figure 7 An environmental structure diagram for implementing a method for generating a warning signal in one embodiment;

[0054] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] In one embodiment, Figure 1 As shown, a method for generating an early warning signal is provided, which is applied to a controller of a magnetic levitation gantry system, wherein the magnetic levitation gantry system includes a double track assembly, a plurality of gantry plates are arranged between the double track assemblies, and motion assemblies are arranged at both ends of the gantry plates, the motion assemblies are adapted to the corresponding track assemblies, and the motion assemblies are electrically connected to the controller. This embodiment uses the method applied to a terminal as an example, and it can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0057] Step S100, obtaining the actual position, movement speed, and corrected time parameters of the moving component on the corresponding track component at the current time; wherein the corrected time parameters include the time difference between the sending time of the moving component start movement instruction and the start time of the actual movement of the moving component.

[0058] In an exemplary embodiment, the corrected time parameter includes the time difference between the moment when the motion instruction is sent to the motion component and the moment when the motion component actually moves; in an exemplary embodiment, a sensor can be installed on the motion component to check the operating status of the motion component and determine the start time of the actual movement of the motion component through the motion status; specifically, the operating status can include stationary, in motion, motion completed, etc.; in actual use, a number can be used to represent the specific motion status, for example, 0 indicates that the motion component is in a stationary state, 1 indicates that the motion component is in a moving state, 2 indicates that the motion component is in a motion completed state, etc.

[0059] In an exemplary embodiment, the actual position and movement speed of the moving component on the corresponding track component at the current time can be collected by installing corresponding sensors on the moving component; in another exemplary embodiment, the moving component can include only installing a motion speed sensor on the moving component, and determining the motion state through the motion speed sensor and then determining the correction time parameters, and determining the actual position of the moving component at the current time through the motion speed sensor and the time of movement, etc.

[0060] Step S200, determining the position offset of the moving component at the current time based on the moving speed and the corrected time parameter.

[0061] In an exemplary embodiment, the movement speed may include a command speed and an actual speed of the moving component on the track component at the current time; the command speed may include a time and speed change designed for the moving component before the moving component moves to ensure that the moving component reaches the target position, and the command speed is the pre-designed speed; for example, before the moving component moves, the speed change is expected to be uniform acceleration from static to 5m / s within 0-2s, uniform travel within 2s-4s, and uniform deceleration from 5m / s to 0 within 4s-6s; the speed represented here is the command speed, which is the pre-set speed of the moving component; however, in actual use, after sending a command to the moving component, the moving component will not accelerate immediately and has a reaction time, so the actual moving component will not be at the expected speed; for example, the reaction time from sending a movement command to the moving component to the start of movement of the moving component is 0.5s. When the movement command is sent to the moving component, the command speed has begun to change, but the actual speed of the moving component will not change immediately. The actual speed will change only after the command speed changes by 0.5s, etc.

[0062] Step S300, determining the corrected position of the motion component at the current time based on the actual position and the position offset.

[0063] In an exemplary embodiment, the track component may include a straight track or a circular track, etc.; the corrected position of the moving component may include adding a position offset to the actual position obtained, etc.

[0064] Step S400, when the difference between the corrected position and the simulated position of the motion component is greater than or equal to a preset difference threshold, generates a warning signal for the motion component; wherein the simulated position is the position corresponding to the current time after the motion component moves based on the sending time of the start motion instruction.

[0065] In an exemplary embodiment, the virtual position may include the position corresponding to the current time after the motion instruction is sent to the motion component and the motion component is simulated to move according to a preset speed; in actual use, a coordinate system of the instruction speed may be established, that is, the horizontal axis is the motion time and the vertical axis is the motion speed; after the motion instruction is sent to the motion component, the instruction speed changes immediately and the corresponding position information is determined. It is understandable that since there is a reaction time between sending the motion instruction to the motion component and the motion component starting to move, the simulated position is before the actual position, and the virtual position represents the position corresponding to the corresponding time after the motion instruction is sent to the motion component. For example, the time of sending the motion instruction to the motion component is 2s, and the reaction time of the motion component is 0.5s. Then at 5s, the virtual position is the position corresponding to the simulated motion component after 3s of movement, and the actual position is the position after the motion component moves 2.5s, etc.

[0066] In an exemplary embodiment, the controller can calculate the corrected position, simulated position, and corresponding difference in real time. For example, a PID controller can be used. By determining the position offset based on the motion speed and correction time parameters, the output of the controller can be adjusted more effectively, reducing the frequent calculations and adjustments of the controller. This helps to reduce the computational burden of the controller, avoids the explosive increase in the calculation of the controller during the stop-to-start phase, makes the controller more stable during the process of the motion component stopping to starting, and further improves the accuracy of the early warning signal generation.

[0067] In the above-mentioned warning signal generation method, the corrected position of the moving component is obtained by using the actual position, movement speed and correction time parameters of the moving component, and the difference between the corrected position and the simulated position is used to determine whether to generate a corresponding warning signal. By introducing the correction time parameter, the time difference between the time when the moving component starts to send the movement instruction and the actual start time is taken into account, so that the position offset and the corrected position can be accurately calculated, and the accuracy of the difference and the accuracy of the warning signal generation are improved. By obtaining the actual position, speed and correction time parameters of the moving component on the track in real time, the position offset of the moving component at the current time can be accurately determined and the position can be corrected, which is helpful to achieve precise control and movement of the moving component and improve the stability and accuracy of the controller. When the difference between the corrected position and the simulated position of the moving component is greater than or equal to the preset difference threshold, a warning signal is generated, abnormal conditions can be detected in time, and warning signals are used for prompting, so that measures can be taken in time, further ensuring the safety and reliability of operation.

[0068] In one embodiment, Figure 2 As shown, the method for obtaining the correction time parameter includes:

[0069] Step S101, establishing a control model of a motion component.

[0070] In an exemplary embodiment, the control model may include predicting a modified time parameter of the motion component by using a motion state change of the motion component and a corresponding time.

[0071] Step S102, obtaining sample data of the control model; wherein the sample data includes the time when the motion instruction is sent to the motion component and the start time when the motion component actually moves.

[0072] In an exemplary embodiment, the sample data may include multiple groups of moments of sending motion instructions to motion components and the starting moments of the corresponding actual motion of the motion components; specifically, it may include moments of sending motion instructions to multiple motion components and the starting moments of the corresponding actual motion of the motion components, and it may also include moments of sending multiple motion instructions to one motion component and the starting moment of the corresponding actual motion of the motion components. In actual use, the motion state, actual speed and corresponding time of the motion component can be collected by controlling the motion component to move several times (for example, 100 times), and the corrected time parameters of the motion component can be determined by the motion state and actual speed; wherein, the motion state may include a change when a motion instruction is sent to the motion component, or a change when the motion component changes from stationary to starting to move, etc.; specifically, if the motion state changes when a motion instruction is sent to the motion component, then the change time of the motion state is the moment t1 when the motion instruction is sent to the motion component, and the moment t2 when the motion component actually starts to move is used to obtain the delay difference between the two time points, which is the corrected time parameter; if the motion state changes when the motion component changes from stationary to starting to move, then when sending the motion instruction to the motion component, the first time point t1 is recorded, which is the moment when the motion instruction is sent to the motion component; and the moment t2 when the motion state changes from stationary to starting to move is recorded, which is the second time point, to obtain the delay difference between the two time points, which is the corrected time parameter, etc.

[0073] In another exemplary embodiment, the sample data can be obtained by recording the actual speed of the moving component and the simulated speed. Specifically, the moment when the simulated speed changes from 0 is the first time point t1, that is, the moment when the motion command is sent to the moving component. It can be understood that the simulated motion is the movement of the simulated moving component without reaction time when the motion command is sent to the moving component; the moment when the actual speed of the moving component starts to change from 0 is the second time point t2, that is, the starting moment of the actual movement of the moving component, and the delay difference between the two time points is recorded, that is, the correction time parameters, etc.

[0074] Step S103, inputting the sample data into the control model to obtain the correction time parameters of the motion component through training.

[0075] In an exemplary embodiment, after obtaining the correction time parameters using the model, the obtained correction time parameters can be used to calculate the deviation value between the actual position and the simulated position of the moving component, further determine the accuracy of the correction time parameters, and use the obtained deviation value to optimize the model, further optimize the correction time parameters, etc.

[0076] In this embodiment, a control model is established and trained using sample data to obtain the corrected time parameters of the motion component. The corrected time parameters are obtained through training, and the actual start time and the motion command sending time are introduced into the model, which improves the accuracy and prediction ability of the control model and improves the robustness and stability of the model.

[0077] In one embodiment, the device further comprises:

[0078] The model optimization submodule is used to adjust the parameters of the control model by using the difference between the corrected position and the simulated position of the motion component.

[0079] In an exemplary embodiment, the optimization may include inputting the difference into a control model for training and optimizing the control model; in another exemplary embodiment, determining a correction effect based on the difference, and adjusting and optimizing the parameters of the control model, etc.

[0080] In one embodiment, Figure 3 As shown, when the difference between the corrected position and the simulated position of the moving component is greater than or equal to a preset threshold, generating a warning signal of the moving component includes:

[0081] Step S401: using a preset time interval and according to the corrected position and the simulated position, obtaining a difference set between the corrected position and the simulated position.

[0082] In an exemplary embodiment, the difference set can be used to characterize the deviation between the corrected position and the simulated position of the motion component during the entire motion process. Specifically, the time interval can be used to detect the deviation between the corrected position and the simulated position once within a period of time.

[0083] Step S402: When there are a preset number of consecutive differences in the difference set that are greater than or equal to a preset difference threshold, a warning signal for the motion component is generated.

[0084] In an exemplary embodiment, when there are a continuous preset number of differences in the difference set that are all greater than or equal to a preset threshold, it can be determined that there is a risk in the motion component; it can be understood that in the actual use process, there may be errors when detecting the motion component, such as actual speed detection errors, etc., so when judging the warning, it is necessary to generate a warning signal for the motion component when the differences of the motion component for a continuous period of time are greater than or equal to the preset difference threshold. Specifically, if the difference data are {0.1, 1.2, 0.2, 1.2, 1.3, 1.5...} in sequence, the difference threshold is set to 1, and the preset number is 3. At this time, when the second difference is judged, 1.2 is greater than the preset difference threshold (1), and the third difference 0.2 is less than the difference threshold, so no warning is issued. When the sixth difference is judged, the fourth and fifth differences are greater than the preset difference threshold, and the sixth difference is also greater than the preset difference threshold, that is, there are three consecutive differences from the fourth to the sixth that are greater than the preset difference threshold, so a warning signal of the motion component will be generated at the sixth.

[0085] In an exemplary embodiment, the time interval may include not setting a time interval, and the difference is detected in real time, that is, the difference set includes all difference information during the movement of the moving component. For example, the corrected position and simulated position of the moving component are collected in real time, and a coordinate system of the difference information is established. When the difference is greater than or equal to a preset difference threshold within a period of time, a warning signal of the moving component is generated.

[0086] In this embodiment, a set of differences between the corrected position and the simulated position is obtained at a preset time interval, and when there are a continuous preset number of differences in the difference set that are greater than or equal to a preset difference threshold, a warning signal of the motion component is generated. By judging the continuous preset number of differences, it is helpful to reduce misjudgments caused by occasional errors and improve the accuracy and reliability of the generation of warning signals. By judging the continuous preset number of differences, the fault tolerance of the entire system is guaranteed, and the error of the number of deviations within the controllable range of the system is eliminated. At the same time, the robustness of the system is also enhanced.

[0087] In one embodiment, Figure 4 As shown, the difference threshold includes a first difference threshold and a second difference threshold; when there are a continuous preset number of differences in the difference set that are greater than or equal to the preset difference threshold, generating a warning signal of the motion component includes:

[0088] Step S411, when there are a continuous preset number of differences in the difference set that are greater than or equal to the first difference threshold, a mild warning signal for the motion component is generated.

[0089] Step S412: When there are a continuous preset number of differences in the difference set that are greater than or equal to the second difference threshold, a severe warning signal for the motion component is generated.

[0090] In an exemplary embodiment, the first difference threshold can be set as a mild warning threshold, and the second difference threshold can be set as a severe warning signal; specifically, when a mild warning signal is generated, it can indicate that the deviation of the motion component is too large, but does not affect the actual use, but there is a possibility of risk, so an alarm instruction is generated to prompt checking and repair; when a severe warning signal is generated, it can indicate that the deviation of the motion component has caused the motion component to be unable to be used normally, so an error instruction is generated to prompt that it cannot be used normally, etc.

[0091] In this embodiment, two different differential thresholds are set to divide the warning signal into mild and severe. The warning level is refined to more accurately indicate the severity of the motion component problem. At the same time, through the mild warning signal, it is helpful to take corrective measures and solve the problem in advance, thereby improving the accuracy and reliability of the system.

[0092] In one embodiment, the movement speed includes:

[0093] At least one of the movement speed of the moving component on the corresponding track at the current time or the simulated movement speed corresponding to the simulated position.

[0094] In an exemplary embodiment, the motion speed can be used to perform corresponding calculations with the corrected time parameters to obtain a position offset; the motion speed may include the motion speed corresponding to the motion component at the current time, or the simulated motion speed at the current moment corresponding to the simulated position, or the simulated motion speed at a preset time interval before the current moment corresponding to the simulated position, etc.; for example, the speed of the current position is v1, the time corresponding to the current position is t1, and the preset time interval (which may include the time interval between two detections, etc.) is t2, then the simulated motion speed at the preset time interval before the current moment corresponding to the simulated position should be the speed v2 corresponding to the time t1-t2, etc.; specifically, the corrected time parameter and the motion speed can be used to perform a product operation to obtain the position offset of the motion component, etc.

[0095] In an exemplary embodiment, the warning signal generation method is applied to a controller of a magnetic levitation gantry system, wherein the magnetic levitation gantry system includes a double track assembly, a plurality of gantry plates are arranged between the double track assemblies, and a motion assembly is arranged at both ends of the gantry plates, the motion assembly is adapted to the corresponding track assembly, and the motion assembly is electrically connected to the controller, and can be as follows Figure 5 The flowchart implementation includes:

[0096] Step S901, respectively obtaining the actual position, movement speed and correction time parameters of the motion components at both ends of the gantry plate;

[0097] Step S902, determining the position offsets of the two moving components at the current time respectively based on the moving speeds of the two moving components and the correction time parameter;

[0098] Step S903, determining the corrected positions of the two moving components based on the actual positions of the two moving components and the position offsets;

[0099] Step S904, when the offsets of the corrected positions corresponding to the two motion components are greater than or equal to the preset offset threshold value for a period of time, a warning signal of the motion component is generated. It can be understood that if the offset between the two motion components is too large, the gantry plates in the two motion components will produce twisting and dislocation, so the offset threshold value here should be set to the first warning threshold value corresponding to the corresponding mild warning signal, etc.

[0100] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0101] Based on the same inventive concept, the embodiment of the present application also provides a warning signal generating device for implementing the above-mentioned warning signal generating method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more warning signal generating device embodiments provided below can refer to the limitations of the warning signal generating method above, and will not be repeated here.

[0102] In one embodiment, Figure 6As shown, a warning signal generating device 100 is provided, which is applied to the controller of a magnetic suspension gantry system, wherein the magnetic suspension gantry system includes a double track assembly, a plurality of gantry plates are arranged between the double track assemblies, and motion assemblies are arranged at both ends of the gantry plates, the motion assemblies are adapted to the corresponding track assemblies, and the motion assemblies are electrically connected to the controller, the device includes: a data acquisition module 101, an offset determination module 102, a corrected position determination module 103 and a warning signal generating module 104, wherein:

[0103] A data acquisition module, used to acquire the actual position, movement speed, and correction time parameters of the motion component on the corresponding track component at the current time; wherein the correction time parameters include the time difference between the sending time of the motion component start movement instruction and the start time of the actual movement of the motion component;

[0104] An offset determination module, used to determine the position offset of the motion component at the current time based on the motion speed and the correction time parameter;

[0105] A corrected position determination module, used to determine the corrected position of the motion component at the current time based on the actual position and the position offset;

[0106] A warning signal generating module is used to generate a warning signal for the motion component when the difference between the corrected position and the simulated position of the motion component is greater than or equal to a preset difference threshold; wherein the simulated position is the position corresponding to the current time after the motion component moves based on the sending time of the start motion instruction.

[0107] In one embodiment, the data acquisition module includes:

[0108] A model building submodule is used to build a control model for motion components;

[0109] A sample acquisition submodule, used to acquire sample data of the control model; wherein the sample data includes the time when the motion instruction is sent to the motion component and the start time when the motion component actually moves;

[0110] The correction time parameter determination submodule is used to input the sample data into the control model to train and obtain the correction time parameters of the motion component.

[0111] In one embodiment, the device further comprises:

[0112] The model optimization submodule is used to adjust the parameters of the control model by using the difference between the corrected position and the simulated position of the motion component.

[0113] In one embodiment, the warning signal generating module includes:

[0114] A difference set acquisition submodule, used for obtaining a difference set between the corrected position and the simulated position according to the corrected position and the simulated position at a preset time interval;

[0115] The warning signal generating submodule is used to generate a warning signal for the motion component when there are a continuous preset number of differences in the difference set that are greater than or equal to a preset difference threshold.

[0116] In one embodiment, the difference threshold includes a first difference threshold and a second difference threshold; the warning signal generation submodule includes:

[0117] a warning signal generating unit, configured to generate a mild warning signal for the motion component when there are a continuous preset number of differences in the difference set that are all greater than or equal to the first difference threshold;

[0118] The warning signal generating unit is further used to generate a severe warning signal for the motion component when there are a continuous preset number of differences in the difference set that are greater than or equal to the second difference threshold.

[0119] In one embodiment, the movement speed includes:

[0120] At least one of the movement speed of the moving component on the corresponding track at the current time or the simulated movement speed corresponding to the simulated position.

[0121] Each module in the above-mentioned warning signal generating device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0122] In an exemplary embodiment, the warning signal generation method can be implemented in Figure 7 In the device shown in the schematic diagram, there are two track components 1, and multiple running components 2 are running on the two track components 1. Each running component 2 is connected to the running component 2 running on the corresponding other track component 1 through a gantry plate 3. It can be understood that when one running component overshoots and the corresponding other running component does not overshoot, the gantry plate between the two running components will be offset and twisted.

[0123] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 8As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store early warning signal data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for generating an early warning signal is implemented.

[0124] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0125] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0126] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0127] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for generating a warning signal, characterized in that: A controller applied to a magnetic levitation gantry system, the magnetic levitation gantry system comprising a double track assembly, a plurality of gantry plates being arranged between the double track assemblies, motion assemblies being arranged at both ends of the gantry plates, the motion assemblies being adapted to the corresponding track assemblies, and the motion assemblies being electrically connected to the controller, the method comprising: Acquiring the actual position, movement speed, and correction time parameters of the motion component on the corresponding track component at the current time; wherein the correction time parameters include the time difference between the sending time of the motion component start movement instruction and the start time of the actual movement of the motion component; the method for acquiring the start time includes acquiring it by using a pre-installed sensor; Determine the position offset of the moving component at the current time based on the moving speed and the corrected time parameter; Determining a corrected position of the motion component at the current time based on the actual position and the position offset; When the difference between the corrected position and the simulated position of the motion component is greater than or equal to a preset difference threshold, a warning signal of the motion component is generated; wherein, the simulated position is the position corresponding to the current time after the motion component moves based on the sending time of the start motion instruction.

2. The method according to claim 1, characterized in that The method for obtaining the correction time parameter includes: Establish control models for motion components; Acquire sample data of the control model; wherein the sample data includes the time when the motion instruction is sent to the motion component and the start time when the motion component actually moves; The sample data is input into a control model, and the corrected time parameters of the motion component are obtained as output.

3. The method according to claim 2, characterized in that The method further comprises: The parameters of the control model are adjusted using the difference between the corrected position and the simulated position of the motion component.

4. The method according to claim 1, characterized in that The step of generating a warning signal of the motion component when the difference between the corrected position and the simulated position of the motion component is greater than or equal to a preset threshold value comprises: Using a preset time interval and according to the corrected position and the simulated position, a difference set between the corrected position and the simulated position is obtained; When there are a continuous preset number of differences in the difference set that are greater than or equal to a preset difference threshold, a warning signal for the motion component is generated.

5. The method according to claim 4, characterized in that The difference threshold includes a first difference threshold and a second difference threshold; when there are a continuous preset number of differences in the difference set that are greater than or equal to the preset difference threshold, generating a warning signal of the motion component includes: When there are a preset number of consecutive differences in the difference set that are greater than or equal to the first difference threshold, generating a mild warning signal for the motion component; When there are a continuous preset number of differences in the difference set that are greater than or equal to the second difference threshold, a severe warning signal for the motion component is generated.

6. The method according to claim 1, characterized in that The movement speed includes: At least one of the movement speed of the moving component on the corresponding track at the current time or the simulated movement speed corresponding to the simulated position.

7. A warning signal generating device, characterized in that: A controller applied to a magnetic suspension gantry system, the magnetic suspension gantry system comprising a double track assembly, a plurality of gantry plates are arranged between the double track assemblies, motion assemblies are arranged at both ends of the gantry plates, the motion assemblies are adapted to the corresponding track assemblies, and the motion assemblies are electrically connected to the controller, the device comprising: A data acquisition module is used to acquire the actual position, movement speed, and correction time parameters of the motion component on the corresponding track component at the current time; wherein the correction time parameters include the time difference between the sending time of the motion component start movement instruction and the start time of the actual movement of the motion component; the start time is acquired by using a pre-installed sensor; An offset determination module, used to determine the position offset of the motion component at the current time based on the motion speed and the correction time parameter; A corrected position determination module, used to determine the corrected position of the motion component at the current time based on the actual position and the position offset; A warning signal generating module is used to generate a warning signal for the motion component when the difference between the corrected position and the simulated position of the motion component is greater than or equal to a preset difference threshold; wherein the simulated position is the position corresponding to the current time after the motion component moves based on the sending time of the start motion instruction.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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