Motion limiting protection method, system and equipment and storage medium

Abstract

The invention discloses a motion limiting protection method, system and device and a storage medium. A motion platform is controlled to move in a preset direction; monitoring that the motion platform triggers a limiting protection signal; starting a limiting protection state until the real-time position of the motion platform is located in a safe motion area specified by a limiting protection signal; the limiting protection state is to prevent the motion platform from continuously moving along the preset direction. Because the motion platform keeps the opening of the limiting protection state after triggering the limiting protection signal and before the real-time position of the motion platform is located in the safe motion area, the motion platform is prevented from continuously moving along the preset direction, so that the safety of the motion platform in the operation process is greatly improved, and the safety of the motion platform is improved. And the limitation of the detection range of the limiting protection signal is avoided, and a safety protection means for the motion platform during over-travel motion is realized.

Description

Technical Field

[0001] The present application relates to the field of motion control, and in particular to a motion limit protection method, system, device and storage medium. Background Art

[0002] In industrial processing and production sites, motion platforms often need to perform frequent movements. When the movement distance exceeds the specified safe movement range, it is easy to cause safety hazards. In the relevant technology, the usual practice is to set a limit device at the extreme position of the motion platform's safe movement, combined with software control to limit the movement of the motion platform. When the motion platform moves in a certain direction to trigger the limit signal, the motion unit is controlled to stop moving in that direction to prevent the motion platform from moving beyond the limit. However, the detection of the limit signal has a range. If the motion platform is in a high-speed motion state, or the motion platform carries a large load, even if the motion platform triggers the limit signal, it will be difficult to stop in time due to the high initial velocity and large inertia, which may cause the motion platform to move beyond the limit. At this time, the motion platform has exceeded the detection range of the limit signal, and the motion limit of the motion platform fails, resulting in the motion of the motion platform losing the limit protection function, and its motion safety risk increases, which is easy to cause mechanical damage and production accidents. Summary of the invention

[0003] The present application provides a motion limit protection method, system, device and storage medium, aiming to solve the problem that the limit control means of the motion platform in the related technology has high safety risks and is prone to cause mechanical damage and production accidents.

[0004] According to one aspect of the present application, an embodiment provides a motion limit protection method, including: Control the motion platform to move along a preset direction; It is detected that the motion platform triggers a limit protection signal; The limit protection state is turned on until the real-time position of the motion platform is within the safe motion area specified by the limit protection signal; the limit protection state is to prevent the motion platform from continuing to move along the preset direction.

[0005] In one embodiment, the controlled motion platform moves along a preset direction, and the preset direction includes any one of a forward motion and a reverse motion in opposite directions.

[0006] In one embodiment, the monitoring that the motion platform triggers a limit protection signal includes: detecting that the motion platform moves along the preset direction into a triggering area of ​​the limit protection signal.

[0007] In one embodiment, preventing the motion platform from continuing to move along the preset direction includes: A braking signal is input to the motion platform to control the motion platform to stop moving; and / or a control signal for the motion platform to move in the reverse direction along the preset direction is input to the motion platform to control the motion platform to move in the reverse direction along the preset direction.

[0008] In one embodiment, the monitoring of the motion platform triggering a limit protection signal further includes: Record the trigger position coordinates LimitPos where the motion platform triggers the limit protection signal; The starting limit protection state until the real-time position of the motion platform is within the safe motion area specified by the limit protection signal includes: Turn on the limit protection state, and monitor the real-time position coordinates ActPos corresponding to the real-time position; Determine the size relationship between ActPos and LimitPos; If |ActPos|≥|LimitPos|, the limit protection state is kept on; if |ActPos|<|LimitPos|, the limit protection state is released.

[0009] In one embodiment, before recording the trigger position coordinates LimitPos where the motion platform triggers the limit protection signal, the method further includes: A motion coordinate system is established along the motion trajectory of the motion platform in the preset direction, and the origin of the motion coordinate system is located at the midpoint of the line between the forward trigger area and the reverse trigger area; the forward trigger area is the trigger area of ​​the limit protection signal corresponding to the forward motion along the preset direction, and the reverse trigger area is the trigger area of ​​the limit protection signal corresponding to the reverse motion along the preset direction.

[0010] In one embodiment, the recording of the trigger position coordinates LimitPos at which the motion platform triggers the limit protection signal includes: The trigger position coordinates LimitPos of the motion platform are obtained by converting the trigger position coordinates LimitPos of the motion platform through a rotary encoder; and / or, the trigger position coordinates LimitPos of the motion platform are obtained through a measuring device.

[0011] In one embodiment, a motion limit protection system is also provided, including: A limit detection device, the limit detection device is used to send a limit protection signal, the limit protection signal corresponds to a safe motion area of ​​the motion platform; A motion platform, wherein the motion platform moves in the safety area along a preset direction; A control device, wherein the control device is used to activate a limit protection state after the limit detection device detects that the motion platform triggers the limit protection signal, until the real-time position of the motion platform is within the safe motion area specified by the limit protection signal; the limit protection state is to prevent the motion platform from continuing to move along the preset direction.

[0012] In one embodiment, a motion limit protection device is also provided, including: Memory for storing computer programs; A processor is used to implement the above-mentioned motion limit protection method by executing the computer program stored in the memory.

[0013] In one embodiment, a computer-readable storage medium is further provided, on which a computer program is stored. The computer program can be executed by a processor to implement the above-mentioned motion limit protection method.

[0014] According to the motion limit protection method, system, device and storage medium in the present application, after the motion platform triggers the limit protection signal, the limit protection state remains on until the real-time position of the motion platform is within the safe motion area, preventing the motion platform from continuing to move in the preset direction, thereby greatly improving the safety of the motion platform during operation, and is not limited by the detection range of the limit protection signal, thereby realizing a safety protection measure for the motion platform during over-travel motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of the motion limit protection method in the embodiment of the present application.

[0016] Figure 2 Schematic diagram of the motion limit protection system in the embodiment of the present application.

[0017] Figure 3 This is a schematic diagram of the limit protection signal triggered by the motion platform in the embodiment of the present application.

[0018] Figure 4 This is a schematic diagram of the over-limit motion of the motion platform in the embodiment of the present application.

[0019] Figure 5 This is a schematic diagram of the motion platform moving into the safe motion area in an embodiment of the present application.

[0020] Figure 6 This is a detailed flow chart of the motion limit protection method in the embodiment of the present application.

[0021] Figure 7 It is a schematic diagram of the composition of the motion limit protection device in the embodiment of the present application. DETAILED DESCRIPTION

[0022] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0023] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations, and the operation steps involved in each embodiment can also be replaced or adjusted in a sequence in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for the purpose of clearly describing a certain embodiment and do not mean that the composition and / or sequence are necessary.

[0024] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0025] In order to solve the problem in the prior art that the motion limit control means of the motion platform easily causes the motion platform to move beyond the limit, thereby resulting in a high safety hazard of the motion platform, which is easy to cause mechanical damage and production accidents, a motion limit protection method is provided in the embodiment of the present application, please refer to Figure 1 , the motion limit protection method specifically includes: S101, controlling the motion platform to move along a preset direction; S102, detecting that the motion platform triggers a limit protection signal; S103, start the limit protection state until the real-time position of the motion platform is within the safe motion area specified by the limit protection signal; the limit protection state is to prevent the motion platform from continuing to move in the preset direction.

[0026] The motion platform in the embodiment of the present application can move along a preset direction according to a given control signal. During the motion process, the motion platform is generally given a safe range of motion, that is, a safe motion area, according to the environment in which the motion platform is located; within the safe motion area, the specific motion mode of the motion platform is generally not restricted, and the motion platform can move within the safe motion area according to actual operating requirements.

[0027] Among them, please refer to Figure 2 The preset direction refers to the movement of the motion platform in a given direction according to the control signal; according to the movement mode defined for the motion platform in the safe movement area, the specific types of movement of the motion platform may include: the motion platform has a motion trajectory line, and the motion platform can reciprocate along the motion trajectory line; the motion platform has two or more motion trajectories that do not completely overlap, and the motion platform can reciprocate within these motion trajectories, or switch between motion trajectories. Therefore, the preset direction of the motion corresponding to the motion platform is matched according to the actual path direction of the motion trajectory line.

[0028] In the embodiment of the present application, when controlling the motion platform to move along a preset direction, the preset direction may specifically include any one of the forward motion and reverse motion in opposite directions. The forward motion and reverse motion in opposite directions refer to the motion platform having a motion trajectory line, and the motion platform can move forward or reverse along the motion trajectory line, which can be regarded as moving along the preset direction. Therefore, in the embodiment of the present application, the specific preset direction can be specifically determined according to the real-time motion situation of the motion platform.

[0029] During the motion of the motion platform, as its position changes, the motion platform may fall into the triggering range of the limit protection signal; therefore, detecting that the motion platform triggers the limit protection signal may specifically include: detecting that the motion platform moves along a preset direction into the triggering area of ​​the limit protection signal. Among them, there are generally multiple triggering ranges for the limit protection signal. According to the range of motion of the motion platform, the triggering range of the limit protection signal is set at the edge of the safe motion area of ​​the motion platform. Therefore, if the motion platform moves to a position sufficient to trigger the limit protection signal, it means that the motion platform has run outside the range corresponding to the safe motion area, and there may be a risk of mechanical damage or a risk of production accidents. Therefore, in an embodiment of the present application, if it is monitored that the motion platform triggers the limit protection signal, the limit protection state is turned on until the real-time position of the motion platform is within the safe area specified by the limit protection signal. In other words, in an embodiment of the present application, the setting of the limit protection signal mainly serves to turn on the limit protection state, and the limit protection state is in the on state before the motion platform returns to the safe motion area.

[0030] Specifically, in the embodiment of the present application, the limit protection state refers to preventing the motion platform from continuing to move in the preset direction. That is to say, the previous motion platform moves in the preset direction and triggers the limit protection signal, indicating that if the motion platform continues to move in the current preset direction, it will continue to move away from the safe motion area and exceed the safe motion area farther and farther; therefore, in the embodiment of the present application, the start of the limit protection state is triggered by the limit protection signal, and the motion direction of the motion platform is restricted in the limit protection state, and it cannot continue to move in the preset direction, thereby preventing the motion platform from continuing to move away from the safe motion area; before the motion platform returns to the safe motion area, the restriction of the motion direction will not be lifted, so that the running safety performance of the motion platform can be protected to the maximum extent, and mechanical failure or production accident of the motion platform can be prevented. It is worth mentioning that the limit protection state referred to in the embodiment of the present application is to prevent the motion platform from continuing to move in the preset direction, which means that the system will not drive the motion platform to move in the preset direction, and the motion platform may continue to move in the preset direction under the action of inertia due to high initial velocity, high load and other reasons. This is a movement in a non-driven state, which does not conflict with the motion limit protection method in the present application.

[0031] Among them, according to the specific driving means for preventing the motion platform from continuing to move in the preset direction in the limit protection state, in the embodiment of the present application, preventing the motion platform from continuing to move in the preset direction may specifically include: Input a braking signal to the motion platform to control the motion platform to stop moving; and / or, input a control signal for reverse movement in a preset direction to the motion platform to control the reverse movement of the motion platform in the preset direction. That is to say, in the embodiment of the present application, there are two specific control means to prevent the motion platform from continuing to move in the preset direction. One of the ways is to input a braking signal to stop the motion platform and gradually return the running speed of the motion platform to zero; this method has a wide range of applications, and basically any motion platform can be used to stop the motion platform after the motion position exceeds the limit; another way is to input a control signal for reverse movement to the motion platform, that is, to input a reverse acceleration to the motion platform, so that the motion platform moves in the reverse direction and returns to the safe motion area. Compared with the braking method, the reverse drive method is more intuitive to return the motion platform to the safe motion area. In the embodiment of the present application, the input braking signal and the input reverse motion control signal can be used in combination, that is, first input a braking signal to the motion platform to slow down the motion platform until it stops; and then input a reverse motion control signal to the motion platform to make the motion platform move in the reverse direction until it returns to the range specified in the safe motion area.

[0032] In some alternative embodiments, please refer to Figure 3In order to conveniently realize the position monitoring of the motion platform, the monitoring of the motion platform triggering the limit protection signal in the embodiment of the present application may also include: recording the trigger position coordinates LimitPos where the motion platform triggers the limit protection signal. Among them, the trigger position coordinates LimitPos are generally fixed in each motion platform motion limit protection method process, that is, the position of the motion platform corresponding to the motion platform triggering the limit protection signal; when the real-time position of the motion platform is subsequently detected, whether the motion platform has returned to the safe motion area is determined based on the trigger position coordinates LimitPos.

[0033] Correspondingly, please refer to Figure 4 and Figure 5 , in the limit protection state, until the real-time position of the motion platform is within the safe motion area specified by the limit protection signal, specifically including: Turn on the limit protection state and monitor the real-time position coordinates ActPos corresponding to the real-time position; Determine the size relationship between ActPos and LimitPos; If |ActPos|≥|LimitPos|, keep the limit protection state on; if |ActPos|<|LimitPos|, release the limit protection state. The real-time position of the motion platform changes in real time according to its motion state; in the embodiment of the present application, once the motion platform triggers the limit protection signal, it is necessary to continuously obtain the real-time position of the motion platform, generally in a periodic manner with a shorter duration. During the operation of the motion platform, its real-time position coordinates ActPos are recorded, and the real-time position coordinates ActPos are compared with the trigger position coordinates LimitPos. If |ActPos|≥|LimitPos|, it means that the size of the real-time position coordinate is greater than the size of the trigger position coordinate, which means that the motion platform is further away from the safe motion area than the trigger position, and the limit protection state is kept on; if |ActPos|<|LimitPos|, it means that the size of the real-time position coordinate is less than the size of the trigger position coordinate, which means that the motion platform is closer to the safe motion area than the trigger position; and since the trigger position is the area corresponding to the motion platform triggering the limit protection signal, it means that the motion platform is already within the safe motion area, so the limit protection state can be turned off and the motion direction of the motion platform is no longer restricted.

[0034] It is worth mentioning that in the embodiment of the present application, the monitoring of the real-time position of the motion platform starts when the motion platform triggers the limit protection signal; therefore, it is not necessary to monitor the real-time position of the motion platform before the motion platform triggers the limit protection signal, which can effectively reduce system resource loss.

[0035] In some optional embodiments, in order to determine the running state of the motion platform through coordinates, before recording the trigger position coordinates LimitPos where the motion platform triggers the limit protection signal, the following may also be included: A motion coordinate system is established along the motion trajectory of the motion platform in a preset direction, and the origin of the motion coordinate system is located at the midpoint of the line between the forward trigger area and the reverse trigger area; wherein the forward trigger area is the trigger area of ​​the limit protection signal corresponding to the forward motion in the preset direction, and the reverse trigger area is the trigger area of ​​the limit protection signal corresponding to the reverse motion in the preset direction. By establishing a motion coordinate system, the real-time running position coordinates of the motion platform can be recorded in combination with the coordinates, so that a simple size comparison can be performed to determine whether the motion platform is located in the safe motion area, thereby correspondingly opening or releasing the limit protection state. In the embodiment of the present application, the coordinate origin is set to the midpoint of the line between the forward trigger area and the reverse trigger area, and the coordinate origin can also be set to any position between the lines connecting the forward trigger area and the reverse trigger area.

[0036] In some optional embodiments, the specific method of recording the trigger position coordinates LimitPos where the motion platform triggers the limit protection signal may include: converting the trigger position coordinates LimitPos of the motion platform through a rotary encoder; and / or obtaining the trigger position coordinates LimitPos of the motion platform through a measuring device. The measuring device may include a grating ruler, a rangefinder, and the like.

[0037] A motion limit protection method is provided in an embodiment of the present application. After the motion platform triggers the limit protection signal, the limit protection state is kept on until the real-time position of the motion platform is within the safe motion area, thereby preventing the motion platform from continuing to move in a preset direction. This greatly improves the safety of the motion platform during operation, and is not limited by the detection range of the limit protection signal, thereby realizing a safety protection method for the motion platform during over-travel motion.

[0038] Please refer to Figure 2-5 As shown, an embodiment of the present application also provides a motion limit protection system, including: The limit detection device 1 is used to send a limit protection signal, and the limit protection signal corresponds to the safe movement area of ​​the motion platform 2; Motion platform 2, the motion platform 2 moves in a safe area along a preset direction; The control device 3 is used to start the limit protection state after the limit detection device 1 detects that the motion platform 2 triggers the limit protection signal, until the real-time position of the motion platform 2 is within the safe motion area specified by the limit protection signal; the limit protection state is to prevent the motion platform 2 from continuing to move in the preset direction.

[0039] The limit detection device 1 in the embodiment of the present application is used to provide a limit protection signal, wherein the limit protection signal is set at the edge of the safe motion area corresponding to the motion platform 2. Therefore, when the motion platform 2 moves to a position where the limit protection signal can be triggered, it indicates that the motion platform 2 has moved beyond the range specified in the safe motion area, and measures should be taken to prevent the motion platform 2 from continuing to move outside the safe motion area. Therefore, the control device 3 is used to turn on the limit protection state after detecting that the motion platform 2 triggers the limit protection signal, until the real-time position of the motion platform 2 is within the safe motion area specified by the limit protection signal. The limit protection state refers to preventing the motion platform 2 from continuing to move in a preset direction.

[0040] In the embodiment of the present application, when controlling the motion platform 2 to move along a preset direction, the preset direction may specifically include any one of the forward motion and reverse motion in opposite directions. The forward motion and reverse motion in opposite directions refer to the motion platform 2 having a motion trajectory line, and the motion platform 2 can move forward or reverse along the motion trajectory line, which can be regarded as moving along the preset direction. Therefore, in the embodiment of the present application, the specific preset direction can be specifically determined according to the real-time motion situation of the motion platform 2.

[0041] During the movement of the motion platform 2, as its position changes, the motion platform 2 may fall into the triggering range of the limit protection signal; therefore, the limit detection device 1 monitors that the motion platform 2 triggers the limit protection signal, which may specifically include: detecting that the motion platform 2 moves along the preset direction into the triggering area of ​​the limit protection signal. Among them, the triggering range of the limit protection signal is generally set to multiple, and according to the range of movement of the motion platform 2, the triggering range of the limit protection signal is set at the edge of the safe movement area of ​​the motion platform 2. Therefore, if the motion platform 2 moves to a position sufficient to trigger the limit protection signal, it means that the motion platform 2 is running outside the range corresponding to the safe movement area, and there may be a risk of mechanical damage or a risk of production accidents. Therefore, in the embodiment of the present application, if it is monitored that the motion platform 2 triggers the limit protection signal, the limit protection state is turned on until the real-time position of the motion platform 2 is within the safe area specified by the limit protection signal. In other words, in the embodiment of the present application, the setting of the limit protection signal mainly serves to turn on the limit protection state, and the limit protection state is in the on state before the motion platform 2 returns to the safe movement area.

[0042] Specifically, in the embodiment of the present application, the limit protection state refers to preventing the motion platform 2 from continuing to move in the preset direction. That is to say, the previous motion platform 2 moves in the preset direction and triggers the limit protection signal, indicating that if the motion platform 2 continues to move in the current preset direction, it will continue to move away from the safe motion area and exceed the safe motion area farther and farther; therefore, in the embodiment of the present application, the start of the limit protection state is triggered by the limit protection signal, and the motion direction of the motion platform 2 is restricted in the limit protection state, and it cannot continue to move in the preset direction, thereby preventing the motion platform 2 from continuing to move away from the safe motion area; before the motion platform 2 returns to the safe motion area, the restriction of the motion direction will not be lifted, so that the running safety performance of the motion platform 2 can be protected to the maximum extent, and the motion platform 2 can be prevented from mechanical failure or production accidents. It is worth mentioning that the limit protection state referred to in the embodiment of the present application is to prevent the motion platform 2 from continuing to move in the preset direction, which means that the system will not drive the motion platform 2 to move in the preset direction, and the motion platform 2 may continue to move in the preset direction under the action of inertia due to high initial velocity, high load, etc. This is a movement in a non-driven state, which does not conflict with the limit protection means in the present application.

[0043] Among them, according to the specific driving means for preventing the motion platform 2 from continuing to move in the preset direction in the limit protection state, in the embodiment of the present application, preventing the motion platform 2 from continuing to move in the preset direction may specifically include: Input a braking signal to the motion platform 2 to control the motion platform 2 to stop moving; and / or, input a control signal for reverse movement in a preset direction to the motion platform 2 to control the reverse movement of the motion platform 2 in the preset direction. That is to say, in the embodiment of the present application, there are two specific control means to prevent the motion platform from continuing to move in the preset direction. One of the ways is to input a braking signal to stop the motion platform 2 and gradually return the running speed of the motion platform 2 to zero. This method has a wide range of applications. Basically, this method can be used to stop the motion platform 2 after any motion position of the motion platform 2 exceeds the limit. Another way is to input a control signal for reverse movement to the motion platform 2, that is, to input a reverse acceleration to the motion platform 2, so that the motion platform 2 moves in the opposite direction and returns to the safe motion area. Compared with the braking method, the reverse drive method is more intuitive to return the motion platform 2 to the safe motion area. In an embodiment of the present application, a braking signal is input and a reverse motion control signal is input and used in combination, that is, a braking signal is first input to the motion platform 2 to slow down the motion platform 2 until it stops; then a reverse motion control signal is input to the motion platform 2 to make the motion platform 2 move in the reverse direction until it returns to the range specified in the safe motion area.

[0044] In some optional embodiments, in order to conveniently realize the position monitoring of the motion platform 2, the limit detection device 1 in the embodiment of the present application may also include: recording the trigger position coordinates LimitPos where the motion platform 2 triggers the limit protection signal. Among them, the trigger position coordinates LimitPos are generally fixed in each limit protection process of the motion platform 2, that is, the position of the motion platform 2 corresponding to the limit protection signal triggered by the motion platform 2; when the real-time position of the motion platform 2 is subsequently detected, whether the motion platform 2 has returned to the safe motion area is determined based on the trigger position coordinates LimitPos.

[0045] Correspondingly, in the state of opening the limit protection, the process of waiting until the real-time position of the motion platform 2 is within the safe motion area specified by the limit protection signal may specifically include: Turn on the limit protection state and monitor the real-time position coordinates ActPos corresponding to the real-time position; Determine the size relationship between ActPos and LimitPos; If |ActPos|≥|LimitPos|, keep the limit protection state on; if |ActPos|<|LimitPos|, release the limit protection state. The real-time position of the motion platform 2 changes in real time according to its motion state; in this embodiment of the application, once the motion platform 2 triggers the limit protection signal, it is necessary to continuously obtain the real-time position of the motion platform 2, generally in a periodic manner with a shorter duration. During the operation of the motion platform 2, its real-time position coordinates ActPos are recorded, and the real-time position coordinates ActPos are compared with the trigger position coordinates LimitPos. If |ActPos|≥|LimitPos|, it means that the size of the real-time position coordinate is greater than the size of the trigger position coordinate, which means that the motion platform 2 is farther away from the safe motion area than the trigger position, and the limit protection state is kept on; if |ActPos|<|LimitPos|, it means that the size of the real-time position coordinate is less than the size of the trigger position coordinate, which means that the motion platform 2 is closer to the safe motion area than the trigger position; and since the trigger position is the area corresponding to the limit protection signal triggered by the motion platform 2, it means that the motion platform 2 is already within the safe motion area, so the limit protection state can be turned off, and the movement direction of the motion platform 2 is no longer restricted.

[0046] It is worth mentioning that in the embodiment of the present application, the monitoring of the real-time position of the motion platform 2 starts when the motion platform 2 triggers the limit protection signal; therefore, it is not necessary to monitor the real-time position of the motion platform 2 before the motion platform 2 triggers the limit protection signal, which can effectively reduce the loss of system resources.

[0047] In some optional embodiments, in order to determine the running state of the motion platform 2 through coordinates, before recording the trigger position coordinates LimitPos where the motion platform 2 triggers the limit protection signal, the following may also be included: A motion coordinate system is established along the motion trajectory of the motion platform 2 in the preset direction, and the origin of the motion coordinate system is located at the midpoint of the line between the forward trigger area and the reverse trigger area; wherein the forward trigger area is the trigger area of ​​the limit protection signal corresponding to the forward motion in the preset direction, and the reverse trigger area is the trigger area of ​​the limit protection signal corresponding to the reverse motion in the preset direction. By establishing a motion coordinate system, the real-time running position coordinates of the motion platform 2 can be recorded in combination with the coordinates, so that a simple size comparison can be performed to determine whether the motion platform 2 is located in the safe motion area, thereby correspondingly opening or releasing the limit protection state. In the embodiment of the present application, the coordinate origin is set to the midpoint of the line between the forward trigger area and the reverse trigger area, and the coordinate origin can also be set to any position between the lines connecting the forward trigger area and the reverse trigger area.

[0048] In some optional embodiments, the specific method of recording the trigger position coordinates LimitPos where the motion platform 2 triggers the limit protection signal may include: obtaining the trigger position coordinates LimitPos of the motion platform 2 by converting through a rotary encoder; and / or obtaining the trigger position coordinates LimitPos of the motion platform 2 through a measuring device. The measuring device may include a grating ruler, a rangefinder, and the like.

[0049] A motion limit protection system is provided in an embodiment of the present application. After the motion platform 2 triggers the limit protection signal, the limit protection state is kept on until the real-time position of the motion platform 2 is within the safe motion area, thereby preventing the motion platform 2 from continuing to move in the preset direction. This greatly improves the safety of the motion platform 2 during operation, and is not limited by the detection range of the limit protection signal, thereby realizing a safety protection measure for the motion platform 2 during over-travel motion.

[0050] Please refer to Figure 6 In an embodiment of the present application, a detailed motion limit protection method is also provided, including: S201. Control the motion platform to move forward or reverse under any working condition.

[0051] S202: It is detected that the motion platform moves into the penalty range of the limit protection signal, thereby triggering the limit protection signal.

[0052] S203, recording the trigger position coordinates LimitPos of the motion platform position when the limit protection signal is triggered, which can be obtained by converting a rotary encoder or a measuring device such as a grating ruler.

[0053] S204. Continuously record the current real-time position coordinates ActPos of the motion platform.

[0054] S205, determining the size relationship between the real-time position coordinate ActPos of the motion platform and the trigger position coordinate LimitPos. If |ActPos|≥|LimitPos|, it means that the current position of the motion platform is outside the safe motion area; if |ActPos|<|LimitPos|, it means that the current position of the motion platform is within the safe motion area.

[0055] S206, setting the limit protection state to be on to prevent the motion platform from continuing to move in the previous direction, triggering the limit direction movement prohibition, and preventing safety accidents.

[0056] S207, setting the limit protection state to off, at this time the motion platform is in the safe motion area, and the restriction on the motion direction of the motion platform is released.

[0057] Please refer to Figure 7 The present application also provides a motion limiting protection device, including: A memory 71, used for storing computer programs; The processor 72 is used to implement the steps of the motion limit protection method in the above-mentioned embodiments by executing the computer program stored in the memory 71, which will not be repeated here.

[0058] In some optional embodiments, a computer-readable storage medium is further provided, on which a computer program is stored. The computer program can be executed by a processor to implement the above-mentioned motion limit protection method.

[0059] Those skilled in the art will appreciate that all or part of the functions of the various methods in the above-mentioned embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to implement the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above-mentioned functions can be implemented. In addition, when all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash disk or mobile hard disk, and can be downloaded or copied and saved in the memory of the local device, or the system of the local device is updated, and when the program in the memory is executed by the processor, all or part of the functions in the above-mentioned embodiments can be implemented.

[0060] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A motion limit protection method, characterized in that: include: Control the motion platform to move along a preset direction; It is detected that the motion platform triggers a limit protection signal; The limit protection state is turned on until the real-time position of the motion platform is within the safe motion area specified by the limit protection signal; the limit protection state is to prevent the motion platform from continuing to move along the preset direction.

2. The motion limiting protection method according to claim 1, characterized in that: The control motion platform moves along a preset direction, wherein the preset direction includes any one of a forward motion and a reverse motion in opposite directions.

3. The motion limiting protection method according to claim 1, characterized in that: The monitoring that the motion platform triggers the limit protection signal includes: detecting that the motion platform moves along the preset direction into a triggering area of ​​the limit protection signal.

4. The motion limiting protection method according to claim 1, characterized in that: The preventing the motion platform from continuing to move along the preset direction comprises: A braking signal is input to the motion platform to control the motion platform to stop moving; and / or a control signal for the motion platform to move in the reverse direction along the preset direction is input to the motion platform to control the motion platform to move in the reverse direction along the preset direction.

5. The motion limiting protection method according to any one of claims 1 to 4, characterized in that: The monitoring of the motion platform triggering the limit protection signal also includes: Record the trigger position coordinates LimitPos where the motion platform triggers the limit protection signal; The starting limit protection state until the real-time position of the motion platform is within the safe motion area specified by the limit protection signal includes: Turn on the limit protection state, and monitor the real-time position coordinates ActPos corresponding to the real-time position; Determine the size relationship between ActPos and LimitPos; If |ActPos|≥|LimitPos|, the limit protection state is kept on; if |ActPos|<|LimitPos|, the limit protection state is released.

6. The motion limiting protection method according to claim 5, characterized in that: Before recording the trigger position coordinates LimitPos where the motion platform triggers the limit protection signal, the method further includes: A motion coordinate system is established along the motion trajectory of the motion platform in the preset direction, and the origin of the motion coordinate system is located at the midpoint of the line between the forward trigger area and the reverse trigger area; the forward trigger area is the trigger area of ​​the limit protection signal corresponding to the forward motion along the preset direction, and the reverse trigger area is the trigger area of ​​the limit protection signal corresponding to the reverse motion along the preset direction.

7. The motion limiting protection method according to claim 5, characterized in that: The trigger position coordinates LimitPos where the motion platform triggers the limit protection signal include: The trigger position coordinates LimitPos of the motion platform are obtained by converting the coordinates through a rotary encoder; and / or the trigger position coordinates LimitPos of the motion platform are obtained by a measuring device.

8. A motion limit protection system, characterized in that: include: A limit detection device, the limit detection device is used to send a limit protection signal; the limit protection signal corresponds to a safe motion area of ​​the motion platform; A motion platform, wherein the motion platform moves in the safety area along a preset direction; A control device, wherein the control device is used to activate a limit protection state after the limit detection device detects that the motion platform triggers the limit protection signal, until the real-time position of the motion platform is within the safe motion area specified by the limit protection signal; the limit protection state is to prevent the motion platform from continuing to move along the preset direction.

9. A motion limit protection device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the motion limit protection method according to any one of claims 1 to 7 by executing the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that: A computer program is stored on the medium, and the computer program can be executed by a processor to implement the motion limit protection method according to any one of claims 1 to 7.

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