A device motion control method, apparatus and medium

Abstract

The application discloses a device motion control method and device and medium, and relates to the field of industrial automation. The scheme can receive and process a new target position sent by a user in real time without stopping the device completely to zero speed and restarting; secondly, according to the current speed and position and the new target position, the motion process is intelligently planned, including deceleration, acceleration or uniform speed process, and the appropriate target constant acceleration and / or constant speed are determined; by generating an accurate target planning path and corresponding control instructions, the device can maintain a smooth motion trajectory during the motion process, avoiding unnecessary production interruption and efficiency reduction caused by frequent shutdown and restart in the traditional method, not only improving the response speed and efficiency of the production line, but also ensuring the stable operation and precise control of the device under complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of industrial automation, and in particular to a method, apparatus and medium for controlling equipment motion. Background Technology

[0002] With the development of industrial automation, the requirements for motor control are becoming increasingly stringent. During motor operation, the motor moves along a pre-planned path; therefore, path planning methods are crucial.

[0003] In traditional technology, if the control parameters of the motor are changed during motion, such as changing the target position, the motor must first be stopped at zero speed and its acceleration reduced to zero before the motion path is replanned based on the new target position. However, the traditional method of stopping the motor at zero speed and with zero acceleration is time-consuming, and the impact caused by stopping the motor is significant, leading to reduced motor control efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a method, device, and medium for controlling equipment motion, which can receive and process new target positions sent by users in real time without completely stopping the equipment to zero speed and restarting it. This allows the equipment to maintain a smooth motion trajectory during movement, avoiding unnecessary production interruptions and efficiency reductions caused by frequent shutdowns and restarts in traditional methods. It not only improves the response speed and efficiency of the production line, but also ensures stable operation and precise control of the equipment under complex working conditions.

[0005] To solve the above-mentioned technical problems, the present invention provides a device motion control method, comprising:

[0006] During the movement of the device along the original path, the target location sent by the user is acquired, and the target location is different from the end point location corresponding to the original path.

[0007] Determine the current position and current speed of the device when the target position is received;

[0008] The motion process of the device moving from the current position to the target position is determined based on the current speed, the target position, and the current position. The motion process includes a deceleration process and / or an acceleration process and / or a constant speed process.

[0009] Determine the target constant acceleration and / or target constant velocity during the motion process, and generate a target planned path based on the target constant acceleration and / or the target constant velocity;

[0010] Based on the target planned path, a target control command is generated to control the device to move from the current position to the target position. The control command includes a speed feedforward command and a position control command.

[0011] In one embodiment, before determining the motion process of the device moving from the current position to the target position based on the current speed, the target position, and the current position, the method further includes:

[0012] Get the minimum deceleration time set by the user;

[0013] Based on the current speed and the minimum deceleration time, calculate the shortest braking distance and the first position for the device to decelerate to zero within the minimum deceleration time;

[0014] Determining the motion process of the device from the current position to the target position based on the current speed, the target position, and the current position includes:

[0015] The motion process of the device moving from the current position to the target position is determined based on the current speed, the first position, the target position, and the current position.

[0016] In one embodiment, determining the motion process of the device moving from the current position to the target position based on the current speed, the first position, the target position, and the current position includes:

[0017] If the direction of movement from the first position to the target position is opposite to the direction of movement of the device along the original path, then the movement process of the device from the current position to the target position is determined to include a first deceleration process and a first movement process; the first deceleration process is the process of the device moving from the current position to the first position within the minimum deceleration time, and the first movement process is the process of the device moving from the first position to the target position, and the first movement process includes at least a first acceleration process and a second deceleration process;

[0018] Determine the target constant acceleration and / or target constant velocity during the motion process, and generate a target planned path based on the target constant acceleration and / or target constant velocity, including:

[0019] The target constant acceleration during the first motion process is determined to be the first preset acceleration set by the user;

[0020] Determine whether the first motion process includes a first uniform velocity process based on the first preset acceleration and the first distance between the first position and the target position;

[0021] If the first uniform speed process is included, then the first target constant speed corresponding to the first uniform speed process is calculated based on the first preset acceleration and the first distance; the target planning path is determined to include the path corresponding to the first deceleration process, the path corresponding to the first acceleration process, the path corresponding to the first uniform speed process, and the path corresponding to the second deceleration process, which are connected in sequence.

[0022] Wherein, the path corresponding to the first deceleration process is the path along which the device moves from the current position to the first position within the minimum deceleration time; the path corresponding to the first acceleration process is the path along which the device accelerates from zero to the first target constant speed according to the first preset acceleration; the path corresponding to the first uniform speed process is the path along which the device moves at a uniform speed according to the first target constant speed; and the path corresponding to the second deceleration process is the path along which the device decelerates from the first target constant speed to zero according to the first preset acceleration.

[0023] In one embodiment, before determining the movement process of the device from the current position to the target position based on the current speed, the first position, the target position, and the current position, the method further includes:

[0024] Obtain the user-defined preset deceleration time, wherein the preset deceleration time is greater than the minimum deceleration time;

[0025] Based on the current speed and the preset deceleration time, calculate the second preset acceleration, preset distance, and second position of the device as it decelerates to zero within the preset deceleration time;

[0026] Determining the motion process of the device from the current position to the target position based on the current speed, the first position, the target position, and the current position includes:

[0027] If the direction of movement from the first position to the target position is the same as the direction of movement of the device along the original path, then the movement process of the device from the current position to the target position is determined based on the current speed, the second position, the target position, and the current position.

[0028] In one embodiment, determining the motion process of the device from the current position to the target position based on the current speed, the second position, the target position, and the current position includes:

[0029] Determine whether the second distance between the current position and the target position is greater than the third distance between the current position and the second position;

[0030] If the second distance is not greater than the third distance, then it is determined that the movement process of the device from the current position to the target position includes a third deceleration process;

[0031] Determine the target constant acceleration and / or target constant velocity during the motion process, and generate a target planned path based on the target constant acceleration and / or target constant velocity, including:

[0032] The third constant acceleration during the third deceleration process is determined based on the second distance and the current speed; the distance the device travels when it decelerates from the current speed to zero according to the third constant acceleration is equal to the second distance;

[0033] The target planned path is determined as the motion path of the device when it decelerates from the current speed to zero according to the third constant acceleration during the third deceleration process.

[0034] In one embodiment, before determining the movement process of the device from the current position to the target position based on the current speed, the first position, the target position, and the current position, the method further includes:

[0035] Get the user-defined maximum speed limit;

[0036] Determining the motion process of the device from the current position to the target position based on the current speed, the first position, the target position, and the current position includes:

[0037] Determine whether the second distance between the current position and the target position is greater than the third distance between the current position and the second position;

[0038] If the second distance is greater than the third distance, then the current speed is compared with the maximum speed limit.

[0039] If the current speed is not less than the maximum amplitude limit speed, then the motion process of the device from the current position to the target position is determined to include at least a fourth deceleration process, a second constant speed process, and a fifth deceleration process;

[0040] Determine the target constant acceleration and / or target constant velocity during the motion process, and generate a target planned path based on the target constant acceleration and / or target constant velocity, including:

[0041] The acceleration during the fourth and fifth deceleration processes is determined to be the second preset deceleration.

[0042] The second target constant velocity during the second uniform velocity process is determined based on the current velocity, the second preset acceleration, and the second distance.

[0043] The target planning path is determined to include the path corresponding to the fourth deceleration process, the path corresponding to the second constant speed process, and the path corresponding to the fifth deceleration process, which are connected sequentially.

[0044] The path corresponding to the fourth deceleration process is the motion path of the device when it decelerates from the current speed to the second target constant speed according to the second preset acceleration; the third uniform speed process is the path of the device moving at a uniform speed according to the second target constant speed; and the fourth path is the motion path of the device when it decelerates from the second target constant speed to zero according to the second preset acceleration.

[0045] In one embodiment, after comparing the current speed with the maximum limiting speed, the method further includes:

[0046] If the current speed is less than the maximum speed limit, then the motion process of the device from the current position to the target position is determined to include at least a second acceleration process and a sixth deceleration process;

[0047] Determine the target constant acceleration and / or target constant velocity during the motion process, and generate a target planned path based on the target constant acceleration and / or target constant velocity, including:

[0048] The acceleration in both the second acceleration process and the sixth deceleration process is determined to be the second preset acceleration;

[0049] The existence of a third uniform velocity process is determined based on the current velocity, the second preset acceleration, the maximum amplitude limit velocity, and the second distance.

[0050] If there is a third uniform motion process, then the third target constant speed in the third uniform motion process is calculated based on the current speed, the second preset acceleration, the maximum amplitude limit speed, and the second distance; the target planned path is determined to be the path corresponding to the second acceleration process, the path corresponding to the third uniform motion process, and the path corresponding to the sixth deceleration process connected in sequence.

[0051] Wherein, the path corresponding to the second acceleration process is the motion path of the device when it accelerates from the current speed to the third target constant speed according to the second preset acceleration, the path corresponding to the third uniform speed process is the path of the device moving at a uniform speed according to the third target constant speed, and the path corresponding to the sixth deceleration process is the motion path of the device when it decelerates from the third target constant speed to zero according to the second preset acceleration.

[0052] In one embodiment, generating a target control command based on the target planned path to control the device to move from the current position to the target position includes:

[0053] During the movement of the device along the target planned path, the current speed feedforward command and the current position control command corresponding to the current moment are determined according to the target planned path;

[0054] The current velocity feedforward command and the current position control command are integrated according to a preset weight to obtain the target control command;

[0055] The device is controlled according to the target control command so that it moves from the current position to the target position.

[0056] To address the aforementioned technical problems, the present invention also provides a device for controlling the motion of an equipment, comprising:

[0057] Memory, used to store computer programs;

[0058] A processor is used to implement the steps of the device motion control method as described above when executing a computer program.

[0059] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the device motion control method described above.

[0060] This invention provides a method, apparatus, and medium for controlling equipment motion, relating to the field of industrial automation. The solution can receive and process new target positions sent by the user in real time without completely stopping the equipment to zero speed and restarting it. Secondly, based on the current speed and position and the new target position, it intelligently plans the motion process, including deceleration, acceleration, or constant speed processes, and determines an appropriate target constant acceleration and / or constant speed. By generating precise target planning paths and corresponding control commands, the equipment can maintain a smooth motion trajectory during movement, avoiding unnecessary production interruptions and efficiency reductions caused by frequent shutdowns and restarts in traditional methods. This not only improves the response speed and efficiency of the production line but also ensures stable operation and precise control of the equipment under complex working conditions. Attached Figure Description

[0061] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 A flowchart of a device motion control method provided by the present invention;

[0063] Figure 2 This invention provides a time-frequency diagram of a device motion control process.

[0064] Figure 3 A flowchart of a partial embodiment of a device motion control process provided in this application;

[0065] Figure 4 This is a flowchart of another embodiment of a device motion control process provided in this application;

[0066] Figure 5 This is a schematic diagram of a device motion control device provided by the present invention. Detailed Implementation

[0067] The core of this invention is to provide a method, device, and medium for controlling equipment motion, which can receive and process new target positions sent by users in real time without completely stopping the equipment to zero speed and restarting it. This allows the equipment to maintain a smooth motion trajectory during movement, avoiding unnecessary production interruptions and efficiency reductions caused by frequent shutdowns and restarts in traditional methods. It not only improves the response speed and efficiency of the production line, but also ensures stable operation and precise control of the equipment under complex working conditions.

[0068] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0069] like Figure 1 As shown, the present invention provides a device motion control method, which is applied to a device motion control device. The device motion control device can be a separate controller or a controller installed in a frequency converter. The frequency converter is used to drive the device motion, and the device can be a motor.

[0070] The motion control method for this device includes:

[0071] S11: During the movement of the device along the original path, the target position sent by the user is obtained. The target position is different from the end position corresponding to the original path.

[0072] The control method of this embodiment allows the target position to be temporarily changed when the device moves along the original path. Specifically, by acquiring the new target position sent by the user, which is different from the end position corresponding to the original path, the system can dynamically adjust the target position, avoiding the need to stop the machine and replan the movement path in the traditional method, thereby reducing unnecessary production interruptions and improving response speed.

[0073] like Figure 2 As shown, the coordinate system has time T on the horizontal axis and frequency f on the vertical axis, with the frequency passing through the number of pole pairs P. n The area of ​​the triangle formed by the number of pulses Enc in one revolution of the encoder is the displacement P (i.e., distance).

[0074] Original path: Obtain the target location instruction P at point O. targ =PosC, then the device moves along the original path, which may or may not include uniform speed segments. The original path is calculated using the following methods:

[0075] (1) Calculate the required distances during the acceleration and deceleration phases:

[0076] P acc f is the distance of the acceleration phase. set T is the frequency of the encoder. acc For the acceleration phase, P dec T is the distance of the deceleration phase. dec This refers to the time of the deceleration phase.

[0077] (2) Calculate the error between the absolute position command and the current absolute position, i.e., the increment of the position command:

[0078] P targ -P A =P Δ ;P targ For absolute position instructions, P A P represents the current absolute position. A This is the increment for the position command.

[0079] (3) Determine P Δ -P acc -P dec The symbol determines whether a uniform velocity segment exists:

[0080]

[0081] (4.1) No uniform velocity segment, the system selects the original path - no uniform velocity segment, calculate the peak frequency:

[0082] f peak This is the peak frequency.

[0083] (4.1.1) Calculate the velocity feedforward at time x:

[0084]

[0085] f x Tx is the velocity feedforward command at time x, where Tx is time x.

[0086] (4.1.2) Calculate at frequency f peak Increment and decrement instructions:

[0087]

[0088]

[0089] Among them, P acc1 P represents the distance during the acceleration process. dec1 P represents the distance during the deceleration process. x1 For position control commands during acceleration, P x2 This is the position control command during deceleration.

[0090] (4.1.3) Combined output: OutFrq = f x *k1+P x *k2;OutFrq is the control command, k1 is the first weight corresponding to the velocity feedforward command, and k2 is the second weight corresponding to the position control command.

[0091] (4.2) There is a constant speed segment, and the peak frequency is the frequency limiting command f. max .

[0092] (4.2.1) Calculate the velocity feedforward command at time x:

[0093]

[0094] Among them, T cst f is the time for a uniform motion process. x1 f x2 f x3 These are the velocity feedforward commands for the acceleration, constant speed, and deceleration processes, respectively.

[0095] (4.2.2) Calculate at frequency f peak Increase, equalize, and decrease position control commands:

[0096]

[0097] P x1 P x2 P x3 These are position control commands for the acceleration, constant speed, and deceleration processes, respectively.

[0098] (4.2.3) Combined output: OutFrq = f x *k1+P x *k2;

[0099] The time percentages for the uniform speed segment, acceleration segment, and deceleration segment are calculated separately. Based on the time, the feedforward velocity slope and the area change rate of the position planning can be calculated, thus obtaining the trajectory at the origin with an initial velocity of zero.

[0100] S12: Determine the device's current position and speed when the target position is received;

[0101] The principle behind this step is that, as the device moves along its original path, it detects and determines the new target location sent by the user, while simultaneously acquiring the device's current position and speed. The key to this step is ensuring that the system can accurately capture the device's real-time status, including position and speed information, so that effective motion planning and control command generation can be performed in subsequent steps, thereby achieving smooth movement and precise positioning of the device.

[0102] The current speed can be obtained by acquiring the current frequency of the encoder and determining the current speed based on the current frequency; that is, there is a preset relationship between frequency and speed. In all the formulas in the following embodiments of the present invention, frequency is used as the description, and the corresponding speed can be obtained according to the preset relationship.

[0103] S13: Determine the motion process of the device from the current position to the target position based on the current speed, target position and current position. The motion process includes deceleration process and / or acceleration process and / or constant speed process.

[0104] This step is crucial in the motion control of the equipment. Specifically, it involves determining the detailed process of how the equipment moves from its current position to the target position based on the current speed, target position, and current position. First, the current position and speed of the equipment are accurately detected. This data is essential for subsequent calculations and planning of the motion process, as it directly affects the dynamic behavior of the equipment throughout the entire motion. Based on these current states, the difference between the target position and the current position is further analyzed, and combined with the current speed, the specific stages of the motion process are determined. These stages may include one, two, or three of deceleration, acceleration, or constant speed. During the motion, the equipment's motion mode is adjusted according to the set or calculated target constant acceleration and / or target constant speed to ensure that the equipment's trajectory is as expected and smooth when reaching the target position.

[0105] S14: Determine the target constant acceleration and / or target constant velocity during the motion process, and generate the target planning path based on the target constant acceleration and / or target constant velocity;

[0106] The main task of this step is to determine the target constant acceleration and / or target constant velocity of the equipment during its movement, based on the current velocity, target position, and current position. The core of this step lies in analyzing the distance and directional relationship between the target position and the current position, combined with information about the current velocity, to determine the set values ​​of acceleration or velocity that the equipment needs to achieve during movement. The selection of the target constant acceleration and constant velocity is crucial for the smoothness and efficiency of the entire movement process. They directly affect the motion control accuracy and energy efficiency of the equipment. In actual operation, these parameters should be rationally selected and adjusted according to the dynamic characteristics of the equipment and the requirements of the working environment to ensure that the equipment can reach the target position in the shortest time and most efficiently, while ensuring the safety and stability of the movement process.

[0107] It should be noted that in this embodiment, the acceleration during acceleration or deceleration is a constant value and does not change, thus reducing the computational requirements of the chip.

[0108] S15: Generate target control commands based on the target planned path to control the device to move from the current position to the target position. The control commands include speed feedforward commands and position control commands.

[0109] This step primarily generates target control commands based on the target planned path to ensure the equipment can smoothly move to the user-specified target position. First, based on the target planned path obtained in the preceding steps, this path details the equipment's motion strategy from its current position to the target position, including deceleration, acceleration, and / or constant speed phases. Each phase corresponds to a pre-determined target constant acceleration and / or target constant velocity. These parameters directly affect the equipment's acceleration and deceleration during movement, as well as the time and accuracy of reaching the target position. Next, target control commands are generated based on this path information. These commands typically include velocity feedforward commands and position control commands. The velocity feedforward commands inform the equipment at what speed to move, while the position control commands guide the equipment to adjust towards the predetermined path and target position. These control commands not only ensure the smoothness and accuracy of the equipment during movement but also enable the system to dynamically adjust based on real-time monitoring and feedback to cope with possible environmental changes or operational demands, thereby improving the equipment's operating efficiency and overall production quality.

[0110] In one embodiment, generating a target control command based on a target planned path to control the device to move from the current position to the target position includes: during the movement of the device along the target planned path, determining the current speed feedforward command and the current position control command corresponding to the current moment based on the target planned path; integrating the current speed feedforward command and the current position control command according to a preset weight to obtain the target control command; and controlling the device according to the target control command to make the device move from the current position to the target position.

[0111] Specifically, as the equipment moves along the planned path, the current speed feedforward command and current position control command are dynamically determined based on the current moment. Subsequently, these commands are integrated according to preset weights. This integration process ensures a reasonable allocation of the priority and influence of commands at different points in time, maximizing the equipment's movement efficiency and stability. After integration, the resulting target control command integrates the speed and position adjustment requirements, becoming the guiding principle for actual equipment movement control. Finally, the equipment is precisely controlled according to the generated target control command, ensuring that it can smoothly move from its current position to the predetermined target position.

[0112] For example, the current speed feedforward command and the current position control command work together proportionally, with the default weighting coefficient of the current speed feedforward command being 100% and the weighting coefficient of the current position control command being 20%. Ideally, speed feedforward can meet the position positioning requirements, but due to the lag in the closed loop and external interference, the speed may not run according to the actual planned speed, resulting in a certain error. This error is adjusted through the position closed loop to ensure the accurate operation of the equipment's process position.

[0113] In one embodiment, before determining the movement process of the device from the current position to the target position based on the current speed, the target position, and the current position, the method further includes: obtaining a user-defined minimum deceleration time; calculating the shortest braking distance and a first position for the device to decelerate to zero within the minimum deceleration time based on the current speed and the minimum deceleration time; determining the movement process of the device from the current position to the target position based on the current speed, the target position, and the current position includes: determining the movement process of the device from the current position to the target position based on the current speed, the first position, the target position, and the current position.

[0114] In this embodiment, during the process of determining the movement of the device from its current position to the target position, it is first necessary to obtain the minimum deceleration time set by the user. This minimum deceleration time is an important parameter set by the user, which specifies the time interval at which the device must begin deceleration when approaching the target position to ensure safe and accurate docking.

[0115] Based on the current speed and the user-defined minimum deceleration time, the shortest braking distance that the device can decelerate to zero within the minimum deceleration time, and the corresponding first position, are calculated. This calculation takes into account the device's current motion state and speed, ensuring that it can safely decelerate to zero within the specified time in actual operation.

[0116] Subsequently, during the determination of equipment movement, the process of moving the equipment from the current position to the target position is planned in detail based on the current speed, the calculated initial position, the target position, and the current position. This process includes determining how to achieve smooth movement of the equipment through appropriate acceleration, deceleration, or constant speed phases, based on the distance relationship between the current movement state of the equipment and the target position. By leveraging the equipment's dynamic adjustment capabilities, it is ensured that it can effectively cope with different working environments and operational requirements in actual operation, thereby improving production efficiency and guaranteeing the safety and accuracy of equipment operation.

[0117] In one embodiment, determining the motion process of a device moving from its current position to its target position based on the current speed, a first position, a target position, and the current position includes: if the direction of movement from the first position to the target position is opposite to the direction of movement along the original path, then determining that the motion process of the device moving from its current position to the target position includes a first deceleration process and a first motion process; the first deceleration process is the process by which the device moves from its current position to the first position within a minimum deceleration time, and the first motion process is the process by which the device moves from the first position to the target position, the first motion process including at least a first acceleration process and a second deceleration process; determining a target constant acceleration and / or a target constant speed for the motion process, and generating a target planned path based on the target constant acceleration and / or the target constant speed, includes: determining that the target constant acceleration in the first motion process is a first preset acceleration set by the user; and generating a target planned path based on the first preset acceleration, a first position, a target position, and the current position. The first distance between a current position and a target position determines whether the first motion process includes a first uniform speed process. If it includes a first uniform speed process, the first target constant speed corresponding to the first uniform speed process is calculated based on the first preset acceleration and the first distance. The target planning path is determined to include the path corresponding to the first deceleration process, the path corresponding to the first acceleration process, the path corresponding to the first uniform speed process, and the path corresponding to the second deceleration process, which are connected in sequence. The path corresponding to the first deceleration process is the path when the device moves from the current position to the first position within the minimum deceleration time. The path corresponding to the first acceleration process is the motion path when the device accelerates from zero to the first target constant speed according to the first preset acceleration. The path corresponding to the first uniform speed process is the path when the device moves at a uniform speed according to the first target constant speed. The path corresponding to the second deceleration process is the motion path when the device decelerates from the first target constant speed to zero according to the first preset acceleration. If the first uniform velocity process does not exist, the first peak velocity is calculated based on the first preset acceleration and the first distance; the target planning path is determined by sequentially connecting the path corresponding to the first deceleration process, the path corresponding to the first acceleration process, and the path corresponding to the second deceleration process; wherein, the path corresponding to the first deceleration process is the motion path of the device when it decelerates from the current speed to zero within the minimum deceleration time along the original path direction; the path corresponding to the first acceleration process is the motion path of the device when it accelerates from zero to the first peak velocity according to the first preset acceleration during the process of moving from the first position to the target position; the path corresponding to the second deceleration process is the motion path of the device when it decelerates from the first peak velocity to zero according to the first preset acceleration.

[0118] In this embodiment, the direction of the device's movement is first analyzed. If the direction from the first position to the target position is opposite to the direction of the device's movement along the original path, a specific movement strategy will be executed, including a first deceleration process and a first movement process. The first deceleration process involves the device moving from the current position to the first position within a minimum deceleration time. This process ensures that the device can safely decelerate to zero speed within a specified time, ensuring that the device can safely reach the first position within a predetermined time, thus preparing for the subsequent movement process.

[0119] Subsequently, the first motion process includes a first acceleration process and a second deceleration process. During the first acceleration process, the device accelerates to a first target constant speed or a first peak speed (depending on whether a first uniform speed process is included) according to a user-defined first preset acceleration. If a first uniform speed process exists, the first target constant speed corresponding to the first uniform speed process is calculated based on the first preset acceleration and the first distance. Throughout the process, the generated target planning path sequentially connects the first deceleration process, the first acceleration process (accelerating the device from a first position to gradually approach the target position, ensuring a gradual increase in speed during the motion), the first uniform speed process (if present) (ensuring the device moves at a stable speed), and the second deceleration process (gradually decelerating to a stop as it approaches the target position, ensuring the device stops precisely at the target position and avoiding overshoot or inaccurate positioning). This process can be specifically referenced in [reference needed]. Figure 2 line 2 in the text.

[0120] If the first uniform velocity process does not exist, the first peak velocity is calculated based on the first preset acceleration and the first distance, and then a target planning path is generated, which sequentially connects the paths of the first deceleration process, the first acceleration process, and the second deceleration process. In these path plans, the path of the first deceleration process describes the motion path of the device decelerating from the current speed to zero within the minimum deceleration time; the path of the first acceleration process describes the motion path of the device accelerating from the first position to the target position according to the first preset acceleration to the first target constant speed or the first peak speed (ensuring that the device gradually accelerates from the first position to smoothly approach the target position); the path of the second deceleration process describes the motion path of the device decelerating to zero speed according to the first preset acceleration after reaching the first target constant speed or the first peak speed (gradually decelerating to a stop when approaching the target position to ensure accurate docking of the device and ensure operational safety and positional accuracy).

[0121] You can also refer to Figure 3 and Figure 4 Specifically, if the device moves along the original path and the target position changes when it moves from point O to time A, the following steps are performed to make a step-by-step judgment based on the current state.

[0122] Set T dec-min-lineGiven the minimum deceleration time of the equipment, calculate the shortest braking distance based on the minimum deceleration time, and calibrate this shortest braking distance as the distance PosE (first position) relative to point A.

[0123] f A The frequency of the encoder at point A is used to characterize the current speed at point A.

[0124] If the target position is at the left end of the absolute coordinate system PosE, then according to Line 1, first decelerate and brake to stop at PosE. After determining that the speed is zero, reverse and move to PosD according to the normal point-to-point Line 2. The positioning is completed (any point at the left end of PosE can be considered as PosD).

[0125] This detailed motion control strategy, through dynamic adjustment and path planning, ensures efficient movement and precise docking of equipment in complex working environments, while also improving system safety and operational stability.

[0126] In one embodiment, before determining the motion process of the device moving from the current position to the target position based on the current speed, the first position, the target position, and the current position, the method further includes: obtaining a user-defined preset deceleration time, wherein the preset deceleration time is greater than a minimum deceleration time; calculating a second preset acceleration, a preset distance, and a second position of the device decelerating to zero within the preset deceleration time based on the current speed and the preset deceleration time; determining the motion process of the device moving from the current position to the target position based on the current speed, the first position, the target position, and the current position includes: if the direction of movement from the first position to the target position is the same as the direction of movement of the device along the original path, then determining the motion process of the device moving from the current position to the target position based on the current speed, the second position, the target position, and the current position.

[0127] In this embodiment, the user-defined preset deceleration time is first obtained. This is an important parameter set by the user according to specific needs, used to guide the deceleration strategy of the device when approaching the target position. The preset deceleration time is usually longer than the minimum deceleration time, so that the deceleration process can be completed more smoothly over a longer period of time, avoiding excessively abrupt movements that could cause device vibration or instability.

[0128] Next, based on the current speed and the preset deceleration time, the second preset acceleration, the preset distance, and the second position corresponding to this distance required for the equipment to decelerate to zero within this time period are calculated. These calculations are based on the current dynamic parameters of the equipment and the preset time to ensure that the deceleration process of the equipment can be accurately predicted and controlled in actual operation, thereby achieving the goal of accurately stopping at the target position.

[0129] Next, based on the current speed, the calculated second position, the target position, and the current position, the movement process of the equipment from the current position to the target position is planned in detail. This process takes into account the relationship between the equipment's direction of movement and the original path. If the direction of the equipment's movement from the first position to the target position is consistent with the original path, then based on the current speed, the second position, the target position, and the current position, the specific path and strategy for the equipment's movement are determined. This process may include stages such as acceleration, constant speed, and deceleration, depending on the actual situation, to ensure that the equipment can accurately reach the target position, thereby improving the accuracy and efficiency of the operation.

[0130] If deceleration is performed according to the preset deceleration time, according to T dec-line4 Deceleration is performed using a preset deceleration time, and the position of PosA (second position) is calculated:

[0131]

[0132] By following the steps above, the movement of equipment can be effectively controlled in complex working environments, improving production efficiency and ensuring operational safety, thereby meeting users' high requirements for the precision and stability of equipment movement control.

[0133] In one embodiment, determining the motion process of the device from the current position to the target position based on the current speed, the second position, the target position, and the current position includes:

[0134] Determine whether the second distance between the current position and the target position is greater than the third distance between the current position and the second position;

[0135] If the second distance is not greater than the third distance, then the motion process of the device from its current position to the target position is determined to include the third deceleration process;

[0136] Determine the target constant acceleration and / or target constant velocity during the motion process, and generate the target planning path based on the target constant acceleration and / or target constant velocity, including:

[0137] The third constant acceleration during the third deceleration process is determined based on the second distance and the current speed; the distance the device travels when it decelerates from the current speed to zero according to the third constant acceleration is equal to the second distance;

[0138] The target planning path is determined as the motion path of the equipment when it decelerates from its current speed to zero according to the third constant acceleration during the third deceleration process.

[0139] In this embodiment, it is first determined whether the second distance from the current position to the target position is greater than the third distance from the current position to the second position. This determination is to determine whether a third deceleration process needs to be considered during the device's movement. If the second distance is less than or equal to the third distance, it means that the distance from the current position to the target position is relatively short, and a third deceleration process needs to be executed to ensure a smooth arrival at the target position. This process can be referred to... Figure 2 Line 3 in the text.

[0140] Next, the parameters for the third deceleration process are calculated based on the current speed and the preset third constant acceleration. The third constant acceleration in this process is determined based on the current speed of the equipment and the distance the target has traveled. It determines the deceleration rate of the equipment during the third deceleration phase. The equipment will gradually decelerate to zero speed according to this acceleration to ensure safety and stability when approaching the target position.

[0141] Finally, a target planning path is generated based on the calculated parameters of the third deceleration process. This path describes the specific motion path of the equipment as it gradually decelerates from its current speed to zero during the third deceleration process. The generation of the target planning path ensures that the equipment can perform the deceleration action as expected, minimizing vibration and instability during operation, thereby improving the overall accuracy and efficiency of the operation.

[0142] If the target location is between PosE and PosA (PosB, corresponding to Line 3):

[0143] Calculate the new deceleration time T based on the target position PosB. dec-line3 :

[0144]

[0145] Calculate the velocity feedforward instruction:

[0146]

[0147] Calculate position control commands:

[0148]

[0149] Combined output control command: OutFrq = f x *k1+P x *k2.

[0150] in Figure 2 Line 4 in the diagram represents the deceleration process according to the second preset acceleration. For Line 4: T dec-line4 The preset deceleration time is a known value.

[0151] Calculate the velocity feedforward instruction:

[0152]

[0153] Calculate position control commands:

[0154]

[0155] Combined output control command: OutFrq = f x *k1+P x *k2.

[0156] By following the above steps, the movement of the equipment can be effectively controlled based on real-time dynamic parameters and preset motion plans to meet the requirements of precise control and stable operation, thereby improving the overall performance and operational efficiency of the equipment.

[0157] In one embodiment, before determining the motion process of the device moving from the current position to the target position based on the current speed, the first position, the target position, and the current position, the method further includes: acquiring a user-defined maximum amplitude limit speed; determining the motion process of the device moving from the current position to the target position based on the current speed, the first position, the target position, and the current position includes: determining whether a second distance between the current position and the target position is greater than a third distance between the current position and the second position; if the second distance is greater than the third distance, comparing the current speed with the maximum amplitude limit speed; if the current speed is not less than the maximum amplitude limit speed, determining that the motion process of the device moving from the current position to the target position includes at least a fourth deceleration process, a second constant speed process, and a fifth deceleration process; determining the target constant acceleration and / or target velocity of the motion process. The target constant speed is determined by generating a target planning path based on the target constant acceleration and / or the target constant speed, including: determining the acceleration in the fourth and fifth deceleration processes as the second preset deceleration; determining the second target constant speed in the second uniform speed process based on the current speed, the second preset acceleration, and the second distance; determining the target planning path includes the path corresponding to the fourth deceleration process, the path corresponding to the second uniform speed process, and the path corresponding to the fifth deceleration process, which are connected sequentially; wherein, the path corresponding to the fourth deceleration process is the motion path of the device when it decelerates from the current speed to the second target constant speed according to the second preset acceleration, the third uniform speed process is the path of the device moving at a constant speed according to the second target constant speed, and the fourth path is the motion path of the device when it decelerates from the second target constant speed to zero according to the second preset acceleration.

[0158] In this embodiment, the process of device motion control involves precisely planning the motion path of the device based on the current speed, the first position, the target position, and the current position, while taking into account the maximum speed limit set by the user, so as to ensure that the device can achieve a stable and safe motion state during the motion process.

[0159] Specifically, the system first obtains the user-defined maximum speed limit. This speed limit ensures that the device does not exceed the user-permitted maximum speed during movement, guaranteeing safety and operational controllability. Secondly, based on the current speed, the first position, the target position, and the current position, the system determines the device's movement from the current position to the target position. During this process, it first determines whether the second distance from the current position to the target position is greater than the third distance from the current position to the second position. This determination is used to decide whether an additional deceleration process is needed to ensure a stable arrival at the target position.

[0160] If the second distance is greater than the third distance, and the current speed is not less than the maximum speed limit, then the motion process of the equipment is determined to include at least a fourth deceleration process, a second constant speed process, and a fifth deceleration process. These processes are executed sequentially to ensure that the equipment can reach the target position under the condition of meeting the safe speed limit.

[0161] Next, a target planned path is generated based on the set target constant acceleration and / or target constant velocity. Here, the acceleration in the fourth and fifth deceleration processes is set to the second preset acceleration, which determines the deceleration rate of the device during the deceleration process. The second target constant velocity in the second uniform velocity process is determined based on the current velocity, the second preset acceleration, and the second distance, ensuring that the device can maintain a stable motion state during the uniform velocity process.

[0162] Finally, a target planning path is generated. This path includes the paths corresponding to the fourth deceleration process, the second constant speed process, and the fifth deceleration process, connected sequentially. These paths describe how the device gradually decelerates or maintains a constant speed at different stages to reach the final target position. The path corresponding to the fourth deceleration process describes the movement path of the device decelerating from the current speed to the second target constant speed according to the second preset acceleration. The path corresponding to the second constant speed process describes the path of the device moving stably at the second target constant speed. The path corresponding to the fifth deceleration process describes the movement path of the device decelerating from the second target constant speed to zero according to the second preset acceleration. This process can be referred to in detail. Figure 2 Line 5 in the text.

[0163] For example, for Line 5, if the position is to the right of point PosA and the current speed is greater than the maximum speed limit, then enter Line 5:

[0164] Calculate the time for each segment in line 5:

[0165]

[0166] Calculate the velocity feedforward instruction:

[0167]

[0168] Calculate position control commands:

[0169]

[0170] Among them, T line5-dec1 T line5-cst T line5-dec These correspond to the times of the fourth deceleration process, the second constant velocity process, and the fifth deceleration process, respectively. x-line5-dec1 f x-line5-cs ,

[0171] f x-line5-dec2 The velocity feedforward commands, P, are for the fourth deceleration process, the second constant velocity process, and the fifth deceleration process, respectively. x-line5-dec1 P x-line5-cst P x-line5-dec2 These are the position control commands for the fourth deceleration process, the second constant speed process, and the fifth deceleration process, respectively.

[0172] By following the steps above, the movement of the equipment can be precisely planned and controlled based on dynamic parameters and user-defined constraints, ensuring that the expected accuracy, safety, and efficiency can be achieved in actual operation.

[0173] In one embodiment, after comparing the current speed with the maximum limiting speed, the method further includes: if the current speed is less than the maximum limiting speed, determining that the motion process of the device from the current position to the target position includes at least a second acceleration process and a sixth deceleration process; determining the target constant acceleration and / or target constant speed of the motion process, and generating a target planning path based on the target constant acceleration and / or target constant speed, including: determining that the acceleration in the second acceleration process and the sixth deceleration process is a second preset acceleration; determining whether a third uniform speed process exists based on the current speed, the second preset acceleration, the maximum limiting speed, and the second distance; if a third uniform speed process exists... The process calculates the third target constant speed in the third uniform speed process based on the current speed, the second preset acceleration, the maximum amplitude speed, and the second distance; the target planning path is determined to be the path corresponding to the second acceleration process, the path corresponding to the third uniform speed process, and the path corresponding to the sixth deceleration process, which are connected in sequence; wherein, the path corresponding to the second acceleration process is the motion path of the device when it accelerates from the current speed to the third target constant speed according to the second preset acceleration, the path corresponding to the third uniform speed process is the path of the device moving at a constant speed according to the third target constant speed, and the path corresponding to the sixth deceleration process is the motion path of the device when it decelerates from the third target constant speed to zero according to the second preset acceleration.

[0174] If there is no third uniform motion process, then the second peak speed is calculated based on the current speed, the second preset acceleration, and the second distance; the target planning path is determined to be the path corresponding to the second acceleration process and the path corresponding to the sixth deceleration process connected in sequence; wherein, the path corresponding to the second acceleration process is the path in which the device moves from the current speed to the second peak speed according to the second preset acceleration, and the path corresponding to the sixth deceleration process is the path in which the device moves from the second peak speed to zero according to the first preset acceleration.

[0175] In this embodiment, the motion control process continues to further refine the motion path of the device based on the current speed, maximum amplitude speed, second position, target position, and current position.

[0176] Specifically, the current speed is first compared with the user-defined maximum speed limit. This comparison aims to ensure that the device does not exceed the user-permitted maximum speed during movement, maintaining operational safety and controllability. If the current speed is less than the maximum speed limit, the movement of the device from its current position to the target position is determined to include at least a second acceleration phase and a sixth deceleration phase. These phases progressively adjust the device's speed to ensure it maintains a safe speed range upon reaching the target position.

[0177] Next, the target constant acceleration and / or target constant velocity during the motion process are determined, and a target planned path is generated based on these parameters. Here, the acceleration during the second acceleration process and the sixth deceleration process is set to a second preset acceleration, and these parameters determine the operation mode of the device during acceleration and deceleration. The existence of a third constant velocity process is determined based on the current velocity, the second preset acceleration, the maximum amplitude limit velocity, and the distance from the second position to the target position.

[0178] If a third uniform velocity process exists, the third target constant velocity within this process is calculated based on these parameters to ensure stable movement of the equipment during the uniform velocity process. The target planning path sequentially connects the paths corresponding to the second acceleration process, the third uniform velocity process, and the sixth deceleration process. These paths describe how the equipment moves gradually at different speed stages to reach the final target position. Specifically, the path corresponding to the second acceleration process describes the path of the equipment accelerating from its current speed to the third target constant velocity according to the second preset acceleration; the path corresponding to the third uniform velocity process describes the path of the equipment moving stably at the third target constant velocity (which can be the maximum amplitude limit speed); and the path corresponding to the sixth deceleration process describes the path of the equipment decelerating from the third target constant velocity to zero according to the second preset acceleration. This process can be referred to in detail. Figure 2 Line 7 in the text.

[0179] If a third uniform velocity process does not exist, the second peak velocity is calculated based on the current velocity, the second preset acceleration, and the distance from the second position to the target position. In this case, the target planning path will sequentially connect the path corresponding to the second acceleration process and the path corresponding to the sixth deceleration process. The path corresponding to the second acceleration process describes the motion path of the device accelerating from the current velocity to the second peak velocity according to the second preset acceleration, and the path corresponding to the sixth deceleration process describes the motion path of the device decelerating from the second peak velocity to zero according to the first preset acceleration. This process can be referred to in detail. Figure 2 Line 6 in the text.

[0180] If the frequency at point A does not exceed the maximum amplitude limit frequency (i.e., the current speed is less than the maximum amplitude limit speed), determine whether there is a uniform speed segment. The processing of line 6-acc0 and line 7-acc0 segments can be regarded as one processing step:

[0181] Calculate distance:

[0182] P targ -P A =P Δ ;

[0183] Calculate the set time:

[0184] T line7-acc +T line7-acc2 =T line7-acc =T arge-acc ;

[0185] T line7-de =T arge-dec ;

[0186] Calculate the distance required according to the set acceleration and deceleration times:

[0187]

[0188] P line7-cst =P Δ -P line7-acc -P line7-dec ;

[0189] Determine P line7-cst Symbols are used to determine whether a uniform velocity segment exists:

[0190]

[0191] Among them, T line7-acc T represents the first acceleration time corresponding to Line 7. line7-acc2 ,

[0192] T line7-de P represents the time corresponding to the second acceleration process and the sixth deceleration process. line7-acc Pline7-dec P line7-cst These represent the distances corresponding to the second acceleration process, the sixth deceleration process, and the third constant velocity process, respectively, f. line7-cst This is the frequency corresponding to the third uniform velocity process.

[0193] A segment with uniform velocity is defined as Line 7, and a segment without uniform velocity is defined as Line 6.

[0194] If the current state is determined to be line 6, then a new peak frequency (the frequency corresponding to the second peak speed) needs to be calculated. The calculation method is the same as the calculation method for the original path without uniform speed segment, and will not be repeated here.

[0195] If the current state is determined to be line 7, there is no need to calculate the frequency. The operation is carried out according to the frequency limit. The calculation method is the same as the calculation method of the uniform speed segment under the original path. This invention will not repeat it here.

[0196] By following the steps above, the movement of the equipment can be precisely planned and controlled based on dynamic parameters and user-defined constraints, ensuring the expected accuracy, safety, and efficiency are achieved in actual operation. This method allows the equipment to adaptively adjust its speed and path under different conditions to cope with complex working environments and task requirements.

[0197] To solve the above technical problems, such as Figure 5 As shown, the present invention also provides a device motion control apparatus, comprising: a memory 31 for storing a computer program; and a processor 32 for implementing the steps of the device motion control method described above when executing the computer program.

[0198] For a description of the motion control device, please refer to the above embodiments; the present invention will not be described in detail here.

[0199] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the aforementioned device motion control method.

[0200] For a description of the computer-readable storage medium, please refer to the above embodiments; the present invention will not be repeated here.

[0201] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0202] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling the motion of equipment, characterized in that, include: During the movement of the device along the original path, the target location sent by the user is acquired, and the target location is different from the end point location corresponding to the original path. Determine the current position and current speed of the device when the target position is received; Get the minimum deceleration time set by the user; Based on the current speed and the minimum deceleration time, calculate the shortest braking distance and the first position for the device to decelerate to zero within the minimum deceleration time; Based on the current speed, the first position, the target position, and the current position, the motion process of the device moving from the current position to the target position is determined, and the motion process includes a deceleration process and / or an acceleration process and / or a constant speed process; Determine the target constant acceleration and / or target constant velocity during the motion process, and generate a target planned path based on the target constant acceleration and / or the target constant velocity; Based on the target planning path, a target control command is generated to control the device to move from the current position to the target position. The control command includes a speed feedforward command and a position control command. Determining the motion process of the device from the current position to the target position based on the current speed, the first position, the target position, and the current position includes: If the direction of movement from the first position to the target position is opposite to the direction of movement of the device along the original path, then the movement process of the device from the current position to the target position is determined to include a first deceleration process and a first movement process; the first deceleration process is the process of the device moving from the current position to the first position within the minimum deceleration time, and the first movement process is the process of the device moving from the first position to the target position, and the first movement process includes at least a first acceleration process and a second deceleration process.

2. The equipment motion control method as described in claim 1, characterized in that, Determine the target constant acceleration and / or target constant velocity during the motion process, and generate a target planned path based on the target constant acceleration and / or target constant velocity, including: The target constant acceleration during the first motion process is determined to be the first preset acceleration set by the user; Determine whether the first motion process includes a first uniform velocity process based on the first preset acceleration and the first distance between the first position and the target position; If the first uniform speed process is included, then the first target constant speed corresponding to the first uniform speed process is calculated based on the first preset acceleration and the first distance; the target planning path is determined to include the path corresponding to the first deceleration process, the path corresponding to the first acceleration process, the path corresponding to the first uniform speed process, and the path corresponding to the second deceleration process, which are connected in sequence. Wherein, the path corresponding to the first deceleration process is the path along which the device moves from the current position to the first position within the minimum deceleration time; the path corresponding to the first acceleration process is the path along which the device accelerates from zero to the first target constant speed according to the first preset acceleration; the path corresponding to the first uniform speed process is the path along which the device moves at a uniform speed according to the first target constant speed; and the path corresponding to the second deceleration process is the path along which the device decelerates from the first target constant speed to zero according to the first preset acceleration.

3. The equipment motion control method as described in claim 1, characterized in that, Before determining the motion process of the device moving from the current position to the target position based on the current speed, the first position, the target position, and the current position, the method further includes: Obtain the user-defined preset deceleration time, wherein the preset deceleration time is greater than the minimum deceleration time; Based on the current speed and the preset deceleration time, calculate the second preset acceleration, preset distance, and second position of the device as it decelerates to zero within the preset deceleration time; Determining the motion process of the device from the current position to the target position based on the current speed, the first position, the target position, and the current position includes: If the direction of movement from the first position to the target position is the same as the direction of movement of the device along the original path, then the movement process of the device from the current position to the target position is determined based on the current speed, the second position, the target position, and the current position.

4. The equipment motion control method as described in claim 3, characterized in that, Determining the motion process of the device from the current position to the target position based on the current speed, the second position, the target position, and the current position includes: Determine whether the second distance between the current position and the target position is greater than the third distance between the current position and the second position; If the second distance is not greater than the third distance, then it is determined that the movement process of the device from the current position to the target position includes a third deceleration process; Determine the target constant acceleration and / or target constant velocity during the motion process, and generate a target planned path based on the target constant acceleration and / or target constant velocity, including: The third constant acceleration during the third deceleration process is determined based on the second distance and the current speed; the distance the device travels when it decelerates from the current speed to zero according to the third constant acceleration is equal to the second distance; The target planned path is determined as the motion path of the device when it decelerates from the current speed to zero according to the third constant acceleration during the third deceleration process.

5. The equipment motion control method as described in claim 3, characterized in that, Before determining the motion process of the device moving from the current position to the target position based on the current speed, the first position, the target position, and the current position, the method further includes: Get the user-defined maximum speed limit; Determining the motion process of the device from the current position to the target position based on the current speed, the first position, the target position, and the current position includes: Determine whether the second distance between the current position and the target position is greater than the third distance between the current position and the second position; If the second distance is greater than the third distance, then the current speed is compared with the maximum speed limit. If the current speed is not less than the maximum amplitude limit speed, then the motion process of the device from the current position to the target position is determined to include at least a fourth deceleration process, a second constant speed process, and a fifth deceleration process; Determine the target constant acceleration and / or target constant velocity during the motion process, and generate a target planned path based on the target constant acceleration and / or target constant velocity, including: The acceleration during the fourth and fifth deceleration processes is determined to be the second preset acceleration; The second target constant velocity during the second uniform velocity process is determined based on the current velocity, the second preset acceleration, and the second distance. The target planning path is determined to include the path corresponding to the fourth deceleration process, the path corresponding to the second constant speed process, and the path corresponding to the fifth deceleration process, which are connected sequentially. The path corresponding to the fourth deceleration process is the motion path of the device when it decelerates from the current speed to the second target constant speed according to the second preset acceleration; the path corresponding to the second uniform speed process is the path of the device moving at a uniform speed according to the second target constant speed; and the path corresponding to the fifth deceleration process is the motion path of the device when it decelerates from the second target constant speed to zero according to the second preset acceleration.

6. The equipment motion control method as described in claim 5, characterized in that, After comparing the current speed with the maximum speed limit, the method further includes: If the current speed is less than the maximum speed limit, then the motion process of the device from the current position to the target position is determined to include at least a second acceleration process and a sixth deceleration process; Determine the target constant acceleration and / or target constant velocity during the motion process, and generate a target planned path based on the target constant acceleration and / or target constant velocity, including: The acceleration in both the second acceleration process and the sixth deceleration process is determined to be the second preset acceleration; The existence of a third uniform velocity process is determined based on the current velocity, the second preset acceleration, the maximum amplitude limit velocity, and the second distance. If there is a third uniform motion process, then the third target constant speed in the third uniform motion process is calculated based on the current speed, the second preset acceleration, the maximum amplitude limit speed, and the second distance; the target planned path is determined to be the path corresponding to the second acceleration process, the path corresponding to the third uniform motion process, and the path corresponding to the sixth deceleration process connected in sequence. Wherein, the path corresponding to the second acceleration process is the motion path of the device when it accelerates from the current speed to the third target constant speed according to the second preset acceleration, the path corresponding to the third uniform speed process is the path of the device moving at a uniform speed according to the third target constant speed, and the path corresponding to the sixth deceleration process is the motion path of the device when it decelerates from the third target constant speed to zero according to the second preset acceleration.

7. The equipment motion control method according to any one of claims 1-6, characterized in that, Generate target control commands based on the target planned path to control the device to move from the current position to the target position, including: During the movement of the device along the target planned path, the current speed feedforward command and the current position control command corresponding to the current moment are determined according to the target planned path; The current velocity feedforward command and the current position control command are integrated according to a preset weight to obtain the target control command; The device is controlled according to the target control command so that it moves from the current position to the target position.

8. A device for controlling the motion of equipment, characterized in that, include: Memory, used to store computer programs; A processor, configured to, when executing a computer program, implement the steps of the device motion control method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the device motion control method as described in any one of claims 1-7.

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