Synchronous control method and device, electronic equipment and medium
By determining the motion time of the object and generating startup information, the position and speed of the object in the filling and cutting industry can be synchronized under the controller with low accuracy and computing power, and the synchronization of the synchronization control accuracy and speed in the prior art is solved. Synchronization is difficult to achieve.
Patent Information
- Application Number
- CN202411354308.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2025-01-03
AI Technical Summary
Existing synchronization algorithms usually rely on high-precision and high-computing controllers, which are difficult to apply to controllers with low-precision and computing power, making it difficult to achieve the accuracy and speed synchronization of object synchronization control in industries such as filling and cutting.
By determining the motion time of the first object from the start point to the end point, and generating startup information based on the to-process object arrival detection signal, the first object and the second object are synchronized at the same position, synchronous control of position and speed is realized.
Under the controller with low accuracy and computing power, the first object and the second object are synchronized and speed synchronization at the second position, improving synchronization accuracy and independent of the controller's accuracy and computing power.
Smart Images
Figure CN119247888A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of motion control technology, and in particular to a synchronous control method, device, electronic equipment and medium. Background Art
[0002] In some industries such as the filling and cutting industries, before the controller controls one object (such as the object performing the filling or cutting operation) to perform the corresponding operation on another object (such as the object being filled or cut), the two objects need to be synchronized at the same position. Most of the existing mature synchronization algorithms are based on high-precision and high-computing power controllers, which are often not applicable to some controllers with lower precision and computing power. Summary of the invention
[0003] In view of this, the present application provides a synchronization control method, device, electronic device and medium, which are used to at least partially solve the above technical problems.
[0004] In a first aspect, the present application provides a synchronization control method, comprising:
[0005] Determine a first duration of time after the first object starts to move from the first position to the second position in a first motion; wherein the first motion includes an accelerated motion and a uniform motion after the speed reaches a first speed;
[0006] Based on the detection signal indicating that the second object to be processed moves to the third position, according to the first time length, the start information of the first object that enables the first object and the second object to be processed to reach the second position at the same time is obtained.
[0007] In a possible implementation, the obtaining, based on the detection signal indicating that the second object to be processed moves to the third position, according to the first time duration, the start information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time, further includes:
[0008] Based on the detection signal indicating that the second object to be processed moves to the third position, and according to the first time duration and the second time duration required for the second object to move from the third position to the second position with a second motion, the start information of the first object is obtained so that the first object and the second object to be processed can reach the second position at the same time.
[0009] In a possible implementation, the obtaining, based on the detection signal indicating that the second object to be processed moves to the third position, according to the first time duration, the start information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time, further includes:
[0010] Based on a detection signal indicating that the second object to be processed moves to a third position, according to the first speed, the first duration, and the distance that the second object moves from the third position to the second position in a second motion, start information of the first object is obtained that enables the first object and the second object to be processed to arrive at the second position at the same time; wherein the second motion is a uniform motion based on the first speed.
[0011] In a possible implementation, after obtaining, based on the detection signal indicating that the second object to be processed moves to the third position, according to the first time length, the start information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time, further includes:
[0012] Based on the start-up information, a first signal is sent to a driving device of the first object so that the first object starts from a first position and moves to a second position with a first motion after starting.
[0013] In a possible implementation, based on the detection signal indicating that the second object to be processed moves to the third position, obtaining the start information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time according to the first speed, the first duration, and the distance that the second object moves from the third position to the second position in the second motion, further includes:
[0014] When receiving a detection signal indicating that the second object to be processed moves to a third position, starting to accumulate a displacement value of the movement of the second object;
[0015] According to the first speed, the first duration, and the distance that the second object moves from the third position to the second position in the second motion, a target displacement value that the second object needs to move when the first signal is sent is obtained.
[0016] In a possible implementation, based on the start-up information, sending a first signal to a driving device of the first object so that the first object starts from a first position and moves to a second position with a first motion after starting, further includes:
[0017] When the accumulated displacement value of the second object reaches the target displacement value, the first signal is sent to the driving device of the first object so that the first object starts from the first position and moves to the second position with the first motion after starting.
[0018] In a possible implementation, determining a first duration for the first object to move from the first position to the second position in a first motion after starting from the first position further includes:
[0019] Sending a first signal to a driving device of the first object so that the first object starts to accelerate and move from the first position, and recording a current first time;
[0020] When receiving a detection signal indicating that the first object moves to the second position, recording a current second time;
[0021] The first duration is determined according to the first time and the second time.
[0022] In a possible implementation, determining a first duration for the first object to move from the first position to the second position in a first motion after starting from the first position further includes:
[0023] When sending a first signal to a driving device of the first object so that the first object starts to accelerate from the first position, instructions are accumulated starting at the time loop interruption;
[0024] When a detection signal indicating that the first object moves to the second position is received, the accumulation instruction is stopped in the time loop interruption, and the accumulation value after the accumulation instruction is stopped is determined to be the first time length.
[0025] In a possible implementation manner, after sending the first signal to the driving device of the first object so that the first object starts and accelerates from the first position, the method further includes:
[0026] Periodically accumulating the time of the accelerated movement until the accumulated time reaches a preset time length corresponding to the first speed and then stops accumulating;
[0027] By using a preset speed-time curve equation, a current speed is calculated according to the current accumulated time and given to a driving device of the first object to control the first object to move at the current speed.
[0028] In a possible implementation manner, after sending the first signal to the driving device of the first object so that the first object starts and accelerates from the first position, the method further includes:
[0029] The speed of the first object is detected, and when the speed of the first object reaches the first speed, a second signal is sent to a driving device of the first object to make the first object move uniformly at the first speed.
[0030] In a second aspect, the present application provides a synchronization control device, comprising:
[0031] A first duration determination module is used to determine a first duration of a first object moving from a first position to a second position in a first motion after starting; wherein the first motion includes an accelerated motion and a uniform motion after the speed reaches a first speed;
[0032] The startup information generating module is used to obtain the startup information of the first object that enables the first object and the second object to be processed to reach the second position at the same time based on the detection signal indicating that the second object to be processed moves to the third position according to the first time length.
[0033] In a third aspect, the present application provides an electronic device, the electronic device comprising: a processor, a communication interface, a memory and a bus, the processor, the communication interface and the memory communicating with each other through the bus;
[0034] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to any one of the methods described in the first aspect.
[0035] In a fourth aspect, the present application provides a computer-readable storage medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor executes any one of the methods described in the first aspect.
[0036] In an embodiment of the present application, by determining a first duration for a first object to move from a first position to a second position with a first motion after starting, and obtaining the startup information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time based on the detection signal indicating that the second object to be processed moves to a third position, the position synchronization of the first object and the second object at the second position can be achieved with high synchronization accuracy, which is not affected by the accuracy and computing power of the controller. Further, based on the detection signal indicating that the second object to be processed moves to the third position, according to the first duration and the second duration required for the second object to move from the third position to the second position with a second motion (or according to the first speed, the first duration and the distance that the second object moves from the third position to the second position with a second motion), the startup information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time is obtained, and the position synchronization and speed synchronization of the first object and the second object at the second position can be achieved with high synchronization accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0037] Figure 1 It is a flow chart of a synchronous control method according to an embodiment of the present application.
[0038] Figure 2 It is a structural diagram of a synchronous control device according to an embodiment of the present application.
[0039] Figure 3 is a structural diagram of an electronic device according to an embodiment of the present application.
[0040] List of reference numerals:
[0041] 200, synchronization control device; 210, first duration determination module;
[0042] 220. Startup information generation module; 300. Electronic device;
[0043] 302, processor; 304, communication interface;
[0044] 306. memory; 308. bus;
[0045] 310. Procedure. DETAILED DESCRIPTION
[0046] In an embodiment of the present application, by determining a first duration for a first object to move from a first position to a second position with a first motion after starting, and obtaining the start-up information of the first object based on the first duration so that the first object and the second object to be processed can arrive at the second position at the same time based on the detection signal indicating that the second object to be processed moves to a third position, the first object and the second object can arrive at the second position at the same time based on the start-up information alone. In order to make the purpose, technical scheme, and advantages of the present application clearer, the present application is further described in detail with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. All other technical schemes obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of the present application.
[0047] Figure 1 FIG. 2 shows a synchronous control method of an embodiment of the present application. Figure 1 As shown, the method includes:
[0048] Step S110, determining a first duration for a first object to move from a first position to a second position in a first motion after starting from the first position.
[0049] The first motion includes an accelerated motion and a uniform motion after the speed reaches the first speed. The accelerated motion may be any accelerated motion, preferably a uniform accelerated motion, a jerked accelerated motion, and the like.
[0050] In this embodiment, step S110 can be implemented in various ways. For example, in some exemplary implementations, step S110 can be further implemented as: sending a first signal to the driving device of the first object so that the first object starts and accelerates from the first position, recording the current first time; when receiving a detection signal indicating that the first object moves to the second position, recording the current second time; determining the first duration according to the first time and the second time. Taking PLC as an example, it can be specifically implemented as: when sending a first signal to the driving device of the first object, triggering a hardware interrupt and reading the current system clock in the hardware interrupt as the first time; when receiving a detection signal indicating that the first object moves to the second position, reading the current system clock in the hardware interrupt as the second time. For example, in other exemplary implementations, step S110 can also be further implemented as: when sending a first signal to the driving device of the first object, starting the accumulation instruction in the time loop interrupt; when receiving a detection signal indicating that the first object moves to the second position, stopping the accumulation instruction in the time loop interrupt, and determining the accumulated value after stopping the accumulation instruction as the first duration.
[0051] Then, the process proceeds to step S120 , and based on the detection signal indicating that the second object to be processed moves to the third position, the start information of the first object that enables the first object and the second object to be processed to reach the second position simultaneously is obtained according to the first duration.
[0052] In some exemplary implementations, step S120 may be further implemented as follows: based on the detection signal indicating that the second object to be processed moves to the third position, according to the first duration and the second duration required for the second object to move from the third position to the second position in the second motion, the start information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time is obtained. The second motion is not limited to uniform motion, and may be any motion such as accelerated motion, decelerated motion, and jerk motion, for example. The second duration may be determined, for example, based on the known motion parameters of the second motion and the preset "motion distance of the second object between the second position and the third position", or may also be obtained based on experimental measurements.
[0053] Furthermore, in an exemplary implementation in which the second motion is a uniform motion based on the first speed, step S120 can be further implemented as follows: based on the detection signal indicating that the second object to be processed moves to the third position, according to the first speed, the first duration, and the distance that the second object moves from the third position to the second position with the second motion, the start information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time is obtained. In this way, the first object and the second object can achieve position synchronization and speed synchronization at the second position at the same time. And, it can be further implemented as follows: when the detection signal indicating that the second object to be processed moves to the third position is received, the displacement value of the second object's motion begins to be accumulated; according to the first speed, the first duration, and the distance that the second object moves from the third position to the second position with the second motion, the target displacement value that the second object needs to move when the first signal is sent is obtained. Taking the fixed-length cutting application scenario in the cutting industry as an example, the first object is the shearing mechanism, and the second object is the material to be cut (conveyed by a conveyor belt, and the conveying speed of the conveyor belt is a first speed V). According to the first speed V, the first time length ΔT, and the distance L (usually a preset value) that the second object moves from the third position to the second position in the second motion, the target displacement value S1 that the material to be cut needs to move from the moment when the detection signal indicating that the material to be cut moves to the third position is received to the moment when the first signal is sent is obtained. S1=LV*ΔT, that is, the "start information" is the target displacement value S1.
[0054] Optionally, the method of this embodiment further includes a "motion control step of the first object", namely: sending a first signal to a driving device of the first object so that the first object starts from a first position and moves to a second position with a first motion after starting.
[0055] It can be understood that the embodiments of the present application can be applied to the filling industry, the cut-to-length industry or similar industries. In practical applications, step S110 is a production initialization step and is executed before the continuous production of each production cycle, and step S120 is executed during the continuous production of each production cycle. Therefore, the aforementioned "motion control step of the first object" can be manually triggered and executed when step S110 is executed, and stored after determining the first duration; the aforementioned "motion control step of the first object" can be automatically triggered and executed based on the startup information after step S120. Specifically, when the applied control device executes the continuous production of each production cycle, several second objects move to the third position in sequence. For each second object, step S120 is executed based on the stored first duration to obtain the startup information, and the first signal is automatically triggered to send to the driving device of the first object based on the startup information so that the first object starts from the first position and moves to the second position with the first motion after starting, until the operation for all second objects is completed or the current production cycle ends.
[0056] Regarding the aforementioned "motion control step of the first object" which is automatically triggered to be executed based on the startup information after step S120, we continue to take the fixed-length cutting application scenario in the cutting industry as an example, and specifically implement it as follows: when the current accumulated displacement value of the material movement reaches the target displacement value S1, a first signal is sent to the driving device of the first object so that the cutting mechanism starts from the first position and moves to the second position with the first motion after starting. Among them, the accumulation method of the distance of the material movement, for example, from the moment when the detection signal indicating that the material to be cut moves to the third position is received, the real-time position of the motor is recorded through the encoder to accumulate the distance of the material movement", or the time of the material movement is accumulated through a timer interrupt to accumulate the distance of the material movement (equal to the accumulated time of the material movement * the first speed V).
[0057] The aforementioned "motion control step of the first object" can be implemented in various ways. For example, in some exemplary implementations, it can be further implemented as follows: sending a first signal to the driving device of the first object so that the first object starts from the first position and starts to accelerate; periodically accumulating the time of the accelerated movement of the first object until the accumulated time reaches a preset duration corresponding to the first speed and stops accumulating; using a preset speed-time curve equation, calculating the current speed according to the current accumulated time and giving it to the driving device of the first object to control the first object to move at the current speed. Among them, the preset duration can be estimated based on the first speed and the preset speed-time curve equation. Among them, the preset speed-time curve equation is an acceleration curve equation, such as a uniform acceleration curve equation or a jerk curve equation. For example, in other exemplary implementations, it can be further implemented as follows: sending a first signal to the driving device of the first object so that the first object starts from the first position and starts to accelerate; detecting the speed of the first object in real time, and sending a second signal to the driving device of the first object when the speed of the first object reaches the first speed so that the first object moves at a uniform speed at the first speed. Among them, "detecting the speed of the first object" is further implemented as: using a high-speed counter to collect the pulse signal of the encoder feedback indicating the position of the motor in the driving device of the first object; wherein the output point of the driving device for sending the signal to the first object is associated with the input point of the high-speed counter and the high-speed counter is enabled when sending the first signal to the driving device of the first object; calculating the number of pulses per unit time of the pulse signal fed back by the encoder collected by the high-speed counter; and obtaining the speed of the first object based on the calculated number of pulses per unit time.
[0058] It is understood that a position detection device may be provided at the second position and the third position, and the position detection device is configured to generate and output a detection signal when detecting that the first object moves to a corresponding position. The method further includes receiving a detection signal output by the position detection device.
[0059] In order to implement the synchronization control method of the above-mentioned embodiment, the embodiment of the present application further provides a synchronization control device 200. Figure 2 As shown, the device 200 includes a first duration determination module 210 and a startup information generation module 220. It should be noted that since the device 200 embodiment is to implement the aforementioned method embodiment, each module in the device 200 is provided to implement each step of the aforementioned method, and therefore the present application is not limited to the following embodiments, and any device or module that can implement the aforementioned method should be included in the protection scope of the present application.
[0060] In this embodiment, the first duration determination module 210 is used to determine the first duration of the first object moving from the first position to the second position in a first motion after starting; wherein the first motion includes accelerated motion and uniform motion after the speed reaches the first speed. The startup information generation module 220 is used to obtain the startup information of the first object that enables the first object and the second object to be processed to reach the second position at the same time based on the detection signal indicating that the second object to be processed moves to the third position according to the first duration.
[0061] Optionally, the device 200 further includes a motion control module of the first object, which is used to send a first signal to a driving device of the first object based on the startup information so that the first object starts from the first position and moves to the second position with the first motion after starting. For example, in some exemplary implementations, the motion control module is also used to: periodically accumulate the time of the accelerated motion of the first object until the accumulated time reaches a preset duration corresponding to the first speed and stops accumulating; using a preset speed-time curve equation, the current speed is calculated according to the current accumulated time and given to the driving device of the first object to control the first object to move at the current speed. Among them, the preset duration can be estimated based on the first speed and the preset speed-time curve equation. Among them, the preset speed-time curve equation is an acceleration curve equation, such as a uniform acceleration curve equation or a jerk curve equation. For example, in other exemplary implementations, the motion control module is also used to: detect the speed of the first object, and when the speed of the first object reaches the first speed, generate and send a second signal to the driving device of the first object so that the first object moves at a uniform speed at the first speed. Among them, "detecting the speed of the first object" is further implemented as: using a high-speed counter to collect the pulse signal of the encoder feedback indicating the position of the motor in the driving device of the first object; wherein the output point of the driving device for sending the signal to the first object is associated with the input point of the high-speed counter and the high-speed counter is enabled when sending the first signal to the driving device of the first object; calculating the number of pulses per unit time of the pulse signal fed back by the encoder collected by the high-speed counter; and obtaining the speed of the first object based on the calculated number of pulses per unit time.
[0062] It can be understood that since the device 200 of this embodiment is a corresponding device to the synchronization control method of the aforementioned embodiment, all technical details in the method of the aforementioned embodiment are applicable to the device 200 of this embodiment. For the sake of simplicity, some details that are the same as those in the method of the aforementioned embodiment are omitted here.
[0063] Figure 3 FIG. 3 is a schematic diagram of an electronic device according to an embodiment of the present disclosure. It should be noted that the present embodiment does not limit the specific implementation of the electronic device 300. Figure 3As shown, the electronic device 300 includes: a processor 302, a communication interface 304, a memory 306, and a bus 308. Among them:
[0064] The processor 302 , the communication interface 304 , and the memory 306 communicate with each other via the bus 308 .
[0065] The communication interface 304 is used to communicate with other electronic devices or servers.
[0066] The processor 302 is used to execute the program 310, and specifically can execute the relevant steps in the aforementioned method embodiments.
[0067] Specifically, the program 310 may include program codes, which include computer operation instructions.
[0068] The processor 302 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.
[0069] The memory 306 is used to store the program 310. The memory 306 may include a high-speed RAM memory 306, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
[0070] The program 310 may be specifically configured to enable the processor 302 to execute the method in any of the aforementioned embodiments.
[0071] The specific implementation of each step in the program 310 can refer to the corresponding description of the corresponding steps and units in the method of the aforementioned embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the aforementioned method embodiment, which will not be repeated here.
[0072] The present disclosure also provides a computer-readable storage medium storing instructions for causing a machine to execute the method embodiments described herein. Specifically, a system or device equipped with a storage medium may be provided, on which a software program code for implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device is enabled to read and execute the program code stored in the storage medium.
[0073] In this case, the program code itself read from the storage medium can realize the function of any one of the above embodiments, and thus the program code and the storage medium storing the program code constitute part of the present disclosure.
[0074] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.
[0075] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.
[0076] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.
[0077] It should be noted that not all steps and modules in the above-mentioned processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or some components in multiple independent devices may be implemented together.
[0078] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as special processors, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.
[0079] It should be noted that in the claims and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.
[0080] While the present disclosure has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure.
[0081] The present disclosure has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present disclosure is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present disclosure, and these embodiments are also within the protection scope of the present disclosure.
Claims
1. A synchronous control method, characterized in that: include: Determine a first duration of time for a first object to move from a first position to a second position with a first motion after starting from a first position; The first motion includes accelerated motion and uniform motion after the speed reaches the first speed; Based on the detection signal indicating that the second object to be processed moves to the third position, according to the first time duration, the start information of the first object that enables the first object and the second object to be processed to reach the second position simultaneously is obtained.
2. The method according to claim 1, characterized in that The method further comprises: obtaining, based on the detection signal indicating that the second object to be processed moves to the third position, the start information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time according to the first time length. Based on the detection signal indicating that the second object to be processed moves to the third position, and according to the first time duration and the second time duration required for the second object to move from the third position to the second position with a second motion, the start information of the first object is obtained so that the first object and the second object to be processed can reach the second position at the same time.
3. The method according to claim 1, characterized in that The method further comprises: obtaining, based on the detection signal indicating that the second object to be processed moves to the third position, the start information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time according to the first time length. Based on a detection signal indicating that the second object to be processed moves to a third position, according to the first speed, the first duration, and the distance that the second object moves from the third position to the second position in a second motion, start information of the first object is obtained that enables the first object and the second object to be processed to arrive at the second position at the same time; wherein the second motion is a uniform motion based on the first speed.
4. The method according to any one of claims 1 to 3, characterized in that After obtaining, based on the detection signal indicating that the second object to be processed moves to the third position, according to the first time length, the start information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time, the method further includes: Based on the start-up information, a first signal is sent to a driving device of the first object so that the first object starts from a first position and moves to a second position with a first motion after starting.
5. The method according to claim 4, characterized in that The method further comprises: obtaining, based on the detection signal indicating that the second object to be processed moves to the third position, the start information of the first object that enables the first object and the second object to be processed to arrive at the second position at the same time according to the first speed, the first duration, and the distance that the second object moves from the third position to the second position in the second motion. When receiving a detection signal indicating that the second object to be processed moves to a third position, starting to accumulate a displacement value of the movement of the second object; Obtaining a target displacement value that the second object needs to move when the first signal is sent according to the first speed, the first duration, and the distance that the second object moves from the third position to the second position in the second motion; and The method further includes: sending a first signal to a driving device of the first object based on the startup information so that the first object starts from a first position and moves to a second position with a first motion after starting. When the accumulated displacement value of the second object reaches the target displacement value, the first signal is sent to the driving device of the first object so that the first object starts from the first position and moves to the second position with the first motion after starting.
6. The method according to claim 1, characterized in that The step of determining a first duration of time after the first object starts moving from the first position to the second position in a first motion further includes: Sending a first signal to a driving device of the first object so that the first object starts to accelerate and move from the first position, and recording a current first time; When receiving a detection signal indicating that the first object moves to the second position, recording a current second time; The first duration is determined according to the first time and the second time.
7. The method according to claim 1, characterized in that The step of determining a first duration of time after the first object starts moving from the first position to the second position in a first motion further includes: When sending a first signal to a driving device of the first object so that the first object starts to accelerate from the first position, instructions are accumulated starting at the time loop interruption; When a detection signal indicating that the first object moves to the second position is received, the accumulation instruction is stopped in the time loop interruption, and the accumulation value after the accumulation instruction is stopped is determined to be the first time length.
8. The method according to claim 6 or 7, characterized in that: After sending the first signal to the driving device of the first object so that the first object starts to move at an accelerated speed from the first position, the method further includes: Periodically accumulating the time of the accelerated movement until the accumulated time reaches a preset time length corresponding to the first speed and then stops accumulating; By using a preset speed-time curve equation, a current speed is calculated according to the current accumulated time and given to a driving device of the first object to control the first object to move at the current speed.
9. The method according to claim 6 or 7, characterized in that: After sending the first signal to the driving device of the first object so that the first object starts to move at an accelerated speed from the first position, the method further includes: The speed of the first object is detected, and when the speed of the first object reaches the first speed, a second signal is sent to a driving device of the first object to make the first object move uniformly at the first speed.
10. A synchronous control device, characterized in that: The device (200) comprises: A first duration determination module (210) is used to determine a first duration of a first object moving from a first position to a second position in a first motion after starting; wherein the first motion includes an accelerated motion and a uniform motion after the speed reaches a first speed; A start-up information generating module (220) is used to obtain start-up information of the first object that enables the first object and the second object to be processed to reach the second position at the same time based on the detection signal indicating that the second object to be processed moves to the third position according to the first time length.
11. An electronic device, the electronic device (300) comprising: A processor (302), a communication interface (304), a memory (306) and a bus (308), wherein the processor (302), the communication interface (304) and the memory (306) communicate with each other via the bus (308); The memory (306) is used to store at least one executable instruction, and the executable instruction enables the processor (302) to perform an operation corresponding to the method as claimed in any one of claims 1 to 9.
12. A computer-readable storage medium having computer instructions stored thereon, wherein when the computer instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 9.