System control method and device based on drive system, electronic equipment and medium

Abstract

The present application provides a system control method and device, electronic equipment and medium based on a drive system, belonging to the field of automatic control technology. The method includes: a central controller determines the control mode of the drive system as a distributed control mode, a joint control mode or a centralized control mode according to communication load, system energy consumption, mover task information of the mover and computing resource utilization, and provides a route list to the segment controller according to the control mode. The mover uses the segment controller closest to the mover as the target segment controller and sends the mover movement record to the target segment controller. The target segment controller controls the switch of the segment associated with the target segment controller according to the mover movement record and the route list to make the mover move on the track, thereby providing a drive system with strong flexibility and scalability.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a system control method and device, electronic equipment and medium based on a drive system. Background Art

[0002] Drive systems are usually used in the fields of automated material handling, industrial production lines, etc., and achieve efficient and accurate handling and positioning of materials or products by precisely controlling the movement of movers (such as the rotor of an electric motor, the moving parts of a linear drive, etc.) on the track. In related technologies, fixed routes and instructions are often used to control movers. When the system scale of the drive system is expanded or the requirements for the drive system change, the controller needs to be complexly configured and adjusted, resulting in poor flexibility and scalability of the drive system. Summary of the invention

[0003] The main purpose of the embodiments of the present application is to propose a system control method and device, electronic equipment and medium based on a drive system, aiming to provide a drive system with strong flexibility and scalability.

[0004] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides a drive system, the drive system comprising:

[0005] A mover, wherein the mover stores a mover movement record;

[0006] A track, the track comprising a plurality of sections, each of the sections being provided with a switch;

[0007] A plurality of segment controllers, each of the segment controllers being associated with one of the segments;

[0008] A central controller, the central controller is communicatively connected with the plurality of segment controllers;

[0009] The central controller is used to provide a route list to each of the segment controllers, and each of the segment controllers is used to control the switch of the segment associated with the segment controller according to the route list and the mover movement record, so that the mover moves on the track.

[0010] The drive system proposed in the present application provides a route list for the segment controller through the central controller, so as to globally and uniformly schedule the movers according to the route list. The segment controller controls the switch of a specific segment according to the route list and the mover movement record, so as to locally control the mover of the specific segment associated with the segment controller, so that the movement route of the mover can be flexibly adjusted by controlling the switch of each segment. When the system scale expands or the demand changes, there is no need to perform complex configuration and adjustment of the controller. Instead, the movement of the mover is flexibly controlled through the collaborative work of the central controller and the segment controller, which solves the problem of poor flexibility and scalability of the drive system caused by the use of fixed routes and instructions.

[0011] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application proposes a system control method based on a drive system, the system control method comprising:

[0012] The central controller provides a route list to the segment controller;

[0013] The mover uses the segment controller closest to the mover as a target segment controller, and sends the mover movement record to the target segment controller;

[0014] The target segment controller controls the switch of the segment associated with the target segment controller according to the mover movement record and the route list, so that the mover moves on the track.

[0015] In some embodiments, after the target segment controller controls the switch of the segment associated with the target segment controller according to the mover movement record and the route list so that the mover moves on the track, the system control method further includes:

[0016] The target section controller acquires the mover state information of the mover, and sends the mover state information to the central controller;

[0017] The central controller adjusts the route list according to the mover status information.

[0018] In some embodiments, the central controller provides the segment controller with a route list, including:

[0019] Acquiring the communication load, system energy consumption and mover task information of the drive system; the mover task information is used to characterize the urgency of the mover task performed by the mover;

[0020] If the mover task information indicates that the urgency of the mover task performed by the mover is non-urgent, and at least one of the communication load and the system energy consumption meets the preset system configuration condition, then the control mode of the drive system is determined to be a joint control mode; the preset system configuration condition includes that the communication load is greater than or equal to a preset load threshold, and the system energy consumption is greater than or equal to a preset energy consumption threshold;

[0021] The route list is provided to the segment controller according to the combined control mode.

[0022] In some embodiments, the central controller provides the segment controller with a route list, including:

[0023] Obtaining computing resource utilization of the drive system;

[0024] If the computing resource utilization rate meets a preset system configuration condition, determining that the control mode of the drive system is a distributed control mode or a joint control mode; the preset system configuration condition includes that the computing resource utilization rate is greater than a preset resource utilization rate threshold;

[0025] If the control mode is the combined control mode, the route list is provided to the segment controller according to the combined control mode.

[0026] In some embodiments, providing the route list to the segment controller according to the joint control mode includes:

[0027] Acquire the communication strategy between the central controller and the segment controller, the starting position, the target position and the moving direction of the mover according to the joint control mode;

[0028] Performing path planning for the mover according to the starting station, the target station and the moving direction of the mover to obtain the route list;

[0029] The route list is provided to the segment controller according to the communication strategy.

[0030] In some embodiments, after acquiring the communication load, system energy consumption and mover task information of the drive system, the system control method further includes:

[0031] If the communication load and the system energy consumption do not meet the preset system configuration conditions, determining that the control mode of the drive system is a distributed control mode;

[0032] If the mover task information indicates that the urgency of the mover task performed by the mover is urgent, it is determined that the control mode of the drive system is a centralized control mode.

[0033] To achieve the above-mentioned purpose, a third aspect of an embodiment of the present application proposes a system control device based on a drive system, the system control device comprising:

[0034] A first sending module, configured for the central controller to provide a route list to the segment controller;

[0035] A second sending module is used for the mover to use the segment controller closest to the mover as a target segment controller and send the mover movement record to the target segment controller;

[0036] A control module is used for the target segment controller to control the switch of the segment associated with the target segment controller according to the mover movement record and the route list, so that the mover moves on the track.

[0037] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements the system control method based on the drive system described in the second aspect above.

[0038] To achieve the above-mentioned purpose, the fifth aspect of an embodiment of the present application proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the system control method based on the drive system described in the second aspect above.

[0039] The system control method and device, electronic device and storage medium based on the drive system proposed in this application provide a route list to the segment controller through the central controller to globally control the movement of the mover according to the route list. In order to achieve real-time adjustment of the movement state of the mover, when the mover moves to a certain section, the mover uses the segment controller closest to the mover as the target segment controller, and sends the mover movement record to the target segment controller, so that the target segment controller can locally control the mover of the section according to the mover movement record. The target segment controller controls the switch of the section associated with the target segment controller according to the mover movement record and the route list to determine whether the mover passes through the section, so as to flexibly adjust the movement route of the mover. When the system scale expands or the demand changes, there is no need to perform complex configuration and adjustment on the controller, but the movement of the mover on the track is flexibly controlled through the collaborative work of the central controller and the segment controller, which solves the problem of poor flexibility and scalability of the drive system caused by the use of fixed routes and instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic diagram of the structure of a drive system provided in an embodiment of the present application;

[0041] Figure 2 is a flow chart of a system control method based on a drive system provided in an embodiment of the present application;

[0042] Figure 3 yes Figure 2 Flow chart of step S210 in FIG.

[0043] Figure 4 is another flow chart of a system control method based on a drive system provided in an embodiment of the present application;

[0044] Figure 5 yes Figure 2 Another flowchart of step S210 in FIG.

[0045] Figure 6 yes Figure 3 Step S330 in or Figure 5 Flow chart of step S530 in FIG.

[0046] Figure 7 is another flow chart of a system control method based on a drive system provided in an embodiment of the present application;

[0047] Figure 8 is a schematic diagram of the structure of a system control device based on a drive system provided in an embodiment of the present application;

[0048] Fig. 9 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0052] Drive systems are usually used in the fields of automated material handling, industrial production lines, etc., and achieve efficient and accurate handling and positioning of materials or products by precisely controlling the movement of movers (such as the rotor of an electric motor, the moving parts of a linear drive, etc.) on the track. In related technologies, fixed routes and instructions are often used to control movers. When the system scale of the drive system is expanded or the requirements for the drive system change, the controller needs to be complexly configured and adjusted, resulting in poor flexibility and scalability of the drive system.

[0053] Based on this, the embodiments of the present application provide a drive system, a system control method and device based on the drive system, an electronic device and a computer-readable storage medium, aiming to provide scalability and flexibility of the drive system.

[0054] The drive system, system control method and device based on the drive system, electronic device and computer-readable storage medium provided in the embodiments of the present application are specifically explained through the following embodiments. First, the drive system in the embodiments of the present application is described.

[0055] The drive system includes components such as a mover 110, a track 120, multiple segment controllers 130, and a central controller 140. The drive system can be a linear drive or a nonlinear drive. A linear drive is a device that converts rotational motion into linear motion. The linear drive can be an electric linear drive, a magnetic drive, etc. The relationship between the input and output of a nonlinear drive is nonlinear. The nonlinear drive can be a stepper motor, a servo motor, etc. The mover 110 is a movable component in the drive system. The mover 110 can be a rotor in an electric motor, an automatic car, a robot, etc. Each mover 110 corresponds to a mover movement record, which is used to reflect the movement information of the mover on the track. The mover movement record includes a mover identification and related navigation information. The navigation information includes information such as the real-time position, starting position, and target position of the mover. The track 120 is used to provide a path for the mover 110 to move. The mover 110 can carry materials or equipment to move on the track. The track 120 includes multiple segments 121, and each segment 121 is provided with a switch 122. In the design of the track segment, different types of switches, such as electromagnetic switches, mechanical switches, etc., can be used to adapt to different application scenarios and requirements. Each segment controller 130 is associated with a specific segment of the track 120. The segment controller 130 is responsible for controlling the track switch and other equipment in a certain area, and is used to control the switch 122 of the associated segment 121. By closing or opening the switch 122, the mover 110 is guided to move forward or change direction on the track. Each segment controller 130 only performs local control on the mover 110 on the segment 121 associated with it. Through this distributed control method, the mover can automatically navigate on the track, and then realize the precise and efficient movement of the mover on the track. The central controller 140 communicates with all segment controllers 130 through a communication bus and is responsible for the coordination and management of the entire drive system. For the communication bus, wired (such as twisted pair, coaxial cable, etc.) or wireless (such as Ethernet, WiFi, Bluetooth) communication methods can be used, and the appropriate communication method can be selected according to the scale and needs of the drive system. The central controller 140 is used to provide a route list to each segment controller 130. The route list describes the path that the mover should follow, and the route list includes at least one path from the starting position to the target position. When the mover 110 reaches the destination of its previous route list, the central controller 140 triggers a new route list to ensure that the mover can continue to move along the predetermined path. The mover can communicate with the segment controller 130, and each segment controller 130 is used to control the switch of the segment associated with the segment controller to be in a closed or open state according to the route list and the mover movement record, so that the mover 110 moves on the track 120.

[0056] The centralized control method uses a central controller to uniformly control the movement of the mover, and the distributed control method uses a segment controller to locally control the movers in their respective responsible areas. During the control process, the mover moves according to a predetermined route or instruction, and the segment controller or central controller adjusts the mover in real time according to the state, position and other information of the mover. However, neither the centralized control method nor the distributed control method considers the overall optimization and collaborative work of the drive system, and often uses fixed routes and instructions to control the mover. When the system scale expands or the demand changes, the controller needs to be complexly configured and adjusted, resulting in poor flexibility and scalability of the system. The embodiment of the present application takes into account the collaborative work of the various components of the drive system, and integrates the central controller and the segment controller in the drive system at the same time. By combining the unified coordination and scheduling of the central controller and the distributed control of the segment controller, and utilizing the communication between the central controller, the distributed controller and the mover, the precise navigation of the mover on the track is realized without the need to configure and adjust the parameters of the controller, thereby improving the flexibility and scalability of the drive system.

[0057] The system control method based on the drive system provided in the embodiment of the present application relates to the field of automatic control technology. The system control method based on the drive system provided in the embodiment of the present application can be applied to the terminal, can also be applied to the server side, and can also be software running in the terminal or the server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or it can be configured as a server cluster or a distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the system control method, etc., but is not limited to the above forms.

[0058] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0059] Figure 2 is an optional flow chart of a system control method based on a drive system provided in an embodiment of the present application, which is applied to a drive system. Figure 2 The system control method may include but is not limited to steps S210 to S230.

[0060] Step S210, the central controller provides a route list to the segment controller;

[0061] Step S220, the mover uses the segment controller closest to the mover as the target segment controller, and sends the mover movement record to the target segment controller;

[0062] Step S230 , the target segment controller controls the switch of the segment associated with the target segment controller according to the mover movement record and the route list, so that the mover moves on the track.

[0063] The embodiment of the present application realizes efficient and accurate navigation of the mover in a complex drive system through the collaborative work of the central controller and the segment controller. The drive system is mainly composed of a mover, a track, a switch, a segment controller and a central controller. The mover is the main operating object of the drive system, the track is the path for the mover to travel, and the mover carries the mover movement record and travels on the track. The drive system may include multiple movers. The track consists of multiple segments along which the mover can travel, and each segment has a segment controller associated with it. Each segment is provided with a switch, which is installed at a specific position at the end of the segment to control the direction of travel of the mover. The above components are connected through an electronic communication bus, and data transmission and instruction exchange between the central controller and the segment controller and between the segment controllers can be realized through the communication bus, ensuring the efficient and stable operation of the drive system. After the drive system is started, the drive system is initialized, such as loading the configuration of components such as the central controller and the segment controller, initializing all segment controllers through the central controller, and assigning tasks to the segment controllers. The central controller is a central processing unit responsible for coordinating the operation of the entire system. The central controller runs the application program, generates control signals for the segment controllers in synchronization with the operation of the drive system and the destination to be reached by the mover, and communicates with all segment controllers according to the control signals, and establishes a communication link between the central controller and the segment controllers. The central controller generates a route list according to the destination, and provides the route list to all segment controllers according to the communication link, so that the mover moves along the track through the coordinated operation of the central controller and the segment controller. The route list is triggered by the mover reaching the destination of the previous route list or the mover starting.

[0064] In the process of realizing the actuator control, over-reliance on the centralized control of the central controller will lead to increased system energy consumption. Although distributed control can reduce energy consumption, it may increase hardware costs and maintenance difficulties. In order to balance the hardware cost of distributed control and the energy consumption of centralized control, this application adopts an adaptive control mode selection mechanism. The control modes include joint control mode, centralized control mode and distributed control mode. The control mode selection mechanism can automatically select the most appropriate control strategy from the joint control mode, centralized control mode and distributed control mode according to the real-time operating status and environmental conditions. By adopting a flexible control architecture, the system efficiency and economy are improved. The control mode selection mechanism is described in detail below.

[0065] See also Figure 3 In some embodiments, step S210 may include but is not limited to steps S310 to S330:

[0066] Step S310, acquiring the communication load of the drive system, the system energy consumption and the mover task information of the mover; the mover task information is used to characterize the urgency of the mover task performed by the mover;

[0067] Step S320: If the task information of the actuator indicates that the urgency of the task performed by the actuator is non-urgent, and at least one of the communication load and the system energy consumption meets the preset system configuration condition, then the control mode of the drive system is determined to be the joint control mode; the preset system configuration condition includes that the communication load is greater than or equal to the preset load threshold, and the system energy consumption is greater than or equal to the preset energy consumption threshold;

[0068] Step S330: providing a route list to the segment controller according to the joint control mode.

[0069] In step S310 of some embodiments, the communication load is used to measure the data transmission volume and bandwidth occupancy rate of the current system communication network. High communication load means that distributed control may face a communication bottleneck. The central controller obtains the sum of all data transmission volumes and bandwidth occupancy rates between the central controller and the segment controller, between the central controller and the mover, between the segment controller and the mover, and between each segment controller, and takes the sum of data transmission volumes and bandwidth occupancy rates as the communication load. The system energy consumption is the energy consumption level of the drive system under the current control mode, and the system energy consumption can be defined as the sum of the energy consumption of the central controller and the energy consumption of each segment controller. The power of the central controller is multiplied by the working time of the central processor to complete all mover tasks to obtain the energy consumption of the central controller. The power of the segment controller is multiplied by the working time of the central processor to complete all mover tasks to obtain the energy consumption of the segment controller. The energy consumption of the mid-segment controller is added to the energy consumption of all segment controllers to obtain the system energy consumption. If the system energy consumption is too high, it is necessary to consider adjusting the control mode. Different movers can perform different mover tasks such as transportation tasks, inspection tasks, etc. The mover task information is used to characterize the urgency of the mover task performed by the mover, which can reflect the priority and time urgency of the mover task. Urgent tasks are more suitable for centralized control to ensure that the system can respond quickly. The urgency score of the mover task can be used to evaluate the urgency. The higher the urgency score, the higher the urgency, and vice versa. The lower the urgency score, the lower the urgency.

[0070] In step S320 of some embodiments, the preset load threshold, the preset energy consumption threshold, and the preset system configuration conditions are all configuration data built into the central processing unit. If the motor task information characterizes that the urgency of the motor task performed by the motor is non-urgent, that is, the urgency score is less than the preset score threshold, then compare the communication load and the preset load threshold, the system energy consumption and the preset energy consumption threshold. If the communication load is greater than or equal to the preset load threshold, it means that the use of the distributed control mode may face a communication bottleneck, and / or the system energy consumption is greater than or equal to the preset energy consumption threshold, indicating that the system energy consumption is too high and the control mode needs to be adjusted, then the control mode of the drive system is switched from the current control mode to the joint control mode to achieve smooth switching of the control mode and avoid control instability caused by frequent switching. The joint control mode refers to a centralized control mode combined with a distributed control mode, that is, a mode in which the central controller and the segment controller work together.

[0071] In order to ensure the adaptability of the actuator motion control, the thresholds of various indicators can be dynamically adjusted according to the historical system state and the current system state. The current system state is the real-time system state at the current time, and the historical system state is the system state before the current time. The system state includes system energy consumption, communication load, etc. For example, the historical system state and the current system state are used as target data, and the target data is preprocessed by data cleaning, data standardization, etc. The mean and standard deviation of the system states belonging to the same indicator (such as communication load, system energy consumption, etc.) in the target data are calculated, and the standard deviation is used as the first standard deviation. The standard deviation of the system states belonging to the same indicator in the historical system state is calculated to obtain the second standard deviation. The absolute value of the difference between the first standard deviation and the second standard deviation is calculated. If the absolute value of the difference is greater than the preset difference threshold, it means that the system state of the indicator fluctuates greatly, and the threshold of the indicator needs to be adjusted. The mean is used as the threshold of the indicator (preset load threshold, preset energy consumption threshold). If the absolute value of the difference is less than or equal to the preset difference threshold, the threshold of the indicator is maintained unchanged.

[0072] The central controller can also use machine learning technology to predict the system status in the future based on the historical system status, so as to determine the control mode of the drive system in advance, thereby improving the foresight and efficiency of the actuator motion control.

[0073] In step S330 of some embodiments, when the control mode of the driving system is the joint control mode, the central controller provides a route list to all segment controllers.

[0074] Through the above steps S310 to S330, the control mode can be dynamically selected according to the current system operation status and task requirements to achieve the best system performance and cost-effectiveness. Through the joint control mode, centralized control can be used for global optimization decisions, and distributed control can be used for local path execution and real-time adjustment. This not only takes advantage of the efficient planning of centralized control, but also gives play to the advantages of rapid response and low communication dependence of distributed control.

[0075] See also Figure 4 In some embodiments, after step S310, the system control method may further include but is not limited to step S410 or step S420:

[0076] Step S410: if the communication load and the system energy consumption do not meet the preset system configuration conditions, then determine that the control mode of the drive system is a distributed control mode;

[0077] Step S420: If the mover task information indicates that the urgency of the mover task performed by the mover is urgent, then determining that the control mode of the drive system is a centralized control mode.

[0078] In step S410 of some embodiments, if the mover task information indicates that the urgency of the mover task performed by the mover is non-urgent, then the communication load and the preset load threshold, the system energy consumption and the preset energy consumption threshold are compared. If the communication load and the system energy consumption do not meet the preset system configuration conditions, that is, the communication load is less than the preset load threshold and the system energy consumption is less than the preset energy consumption threshold, indicating that the communication load and the system energy consumption are both within an acceptable range, then the control mode of the drive system is determined to be a distributed control mode, and the distributed control mode enables the drive system to provide better flexibility and response speed for the mover movement. The distributed control mode refers to controlling the switch state of the associated segment through the segment controller without the participation of the central controller.

[0079] In step S420 of some embodiments, if the mover task information indicates that the urgency of the mover task performed by the mover is urgent, the control mode of the drive system is determined to be a centralized control mode, so as to sacrifice some energy consumption to ensure that the mover task can be completed quickly. The centralized control mode refers to directly controlling the switch state of each segment through a central controller without the participation of the segment controller.

[0080] Through the above steps S410 to S420, adaptive switching of the control mode of the driving system can be achieved.

[0081] See also Figure 5 In some embodiments, step S210 may also include but is not limited to steps S510 to S530:

[0082] Step S510, obtaining the computing resource utilization of the driving system;

[0083] Step S520, if the computing resource utilization rate meets the preset system configuration condition, determining that the control mode of the drive system is a distributed control mode or a joint control mode; the preset system configuration condition includes that the computing resource utilization rate is greater than a preset resource utilization rate threshold;

[0084] Step S530: If the control mode is the combined control mode, a route list is provided to the section controller according to the combined control mode.

[0085] In step S510 of some embodiments, the computing resource utilization is used to evaluate the usage of the controller processing resources such as CPU, memory, network, etc. The computing resource utilization of the central controller is obtained through a resource manager built into the central controller.

[0086] In step S520 of some embodiments, even if the communication load and system energy consumption are within an acceptable range, if the computing resource utilization is greater than the preset resource utilization threshold, indicating that the computing burden of centralized control is heavy, the control mode of the drive system is determined to be a distributed control mode or a joint control mode to disperse the data processing pressure. If the computing resource utilization is less than or equal to the preset resource utilization threshold, the current control mode of the drive system is maintained.

[0087] In step S530 of some embodiments, if the control mode of the drive system is a joint control mode, the central controller provides a route list to all segment controllers. If the control mode of the drive system is a distributed control mode, the mover feeds back the mover position to the nearest segment controller in real time, and the segment controller controls the switch state of the associated segment according to the mover position and the destination.

[0088] Through the above steps S510 to S530, the processing capacity of the central controller is evaluated by using the computing resource utilization rate, and the control mode is switched when the processing capacity is insufficient, thereby dispersing the processing pressure of the central processor.

[0089] See also Figure 6 In some embodiments, step S330 or step S530 may include but is not limited to steps S610 to S630:

[0090] Step S610, acquiring the communication strategy between the central controller and the segment controller, the start position, the target position and the moving direction of the mover according to the joint control mode;

[0091] Step S620, planning the path of the mover according to the starting station, the target station and the moving direction of the mover to obtain a route list;

[0092] Step S630: providing a route list to the segment controller according to the communication strategy.

[0093] In step S610 of some embodiments, there are multiple movers and segment controllers in the drive system, and the communication and coordination between them may be delayed or interfered, resulting in the real-time and accuracy of the mover movement being affected. When the number of movers increases, the communication burden increases, which may cause the system performance to decline. In order to improve the real-time and accuracy of the mover movement and ensure the system performance of the drive system, when the control mode of the drive system is a joint control mode, the central controller obtains the communication strategy between the central controller and the segment controller. The central controller obtains the start position, target position and mover movement direction of the mover, or obtains the start position, target position, the process that the mover must pass through and the mover movement direction to plan the path of the mover movement. The start position is the starting position of the mover, and the target position is the destination that the mover needs to reach. The process that the mover must pass through is the station located between the start position and the target position. The mover movement direction is used to indicate the movement direction of the mover from the start position to the target position, and the mover movement direction includes clockwise and counterclockwise directions.

[0094] Communication strategies include establishing redundant communication links, time synchronization and data verification, predictive communication, and local autonomous control to solve the real-time and accuracy problems of the mover's motion. Establishing redundant communication links means establishing multiple communication links as alternative communication links, and automatically switching to alternative communication links when the main communication link fails to reduce the risk of communication interruption. Time synchronization and data verification refer to the use of precise time synchronization protocols, such as Network Time Protocol (NTP) and Precision Time Protocol (PTP), to ensure the time consistency between all devices, and cooperate with data packet verification and error correction codes to improve the accuracy and reliability of data transmission. Predictive communication refers to the use of predictive algorithms to schedule data transmission in advance to reduce real-time communication pressure, especially sending instructions in advance when the mover's state changes are predicted. Local autonomous control means that when communication is interrupted, the section controller can perform temporary control based on the last received instruction and the local route list, and then synchronize after communication is restored.

[0095] The communication strategy also includes building a multi-level communication network, message queue and cache strategy, intelligent routing and priority scheduling to solve the problem of increased communication burden caused by the increase in the number of actuators. Building a multi-level communication network: The multi-level network architecture includes a central controller, a regional controller and a segment controller. The central controller communicates with the regional controller, and the regional controller communicates with the segment controller. One regional controller can control multiple segment controllers, and the layered network architecture reduces the pressure of single-point communication. Message queue and cache strategy: Set up efficient message queues and data caches between the central controller and the segment controller to process control instructions in an orderly manner and avoid data accumulation. Intelligent routing and priority scheduling: Dynamically adjust the communication priority according to the urgency of the actuator task and the system status to ensure the immediate delivery of critical information.

[0096] In step S620 of some embodiments, the central processing unit performs path planning for the mover based on the D* path planning algorithm in the configuration file according to the starting station, the target station and the moving direction of the mover or the starting station, the target station, the process that the mover must pass through and the moving direction of the mover, so as to determine the moving route between the overall processes of the system and obtain a route list. When the environment changes dynamically (such as the presence of obstacles), the D* algorithm can update the path in real time to ensure that the moving path of the mover is always valid. The central controller also adopts a seven-segment S-shaped speed planning method to perform speed planning for each process in the route list, determine the movement speed of each process, and plan a smooth position curve to ensure that the moving process of the mover is efficient and stable.

[0097] In step S630 of some embodiments, the central controller adopts a communication strategy to provide a route list to the segment controller.

[0098] In the above steps S610 to S630, the communication delay between the central controller and the segment controller and the communication burden caused by the increase of movers can be reduced through the communication strategy, thereby ensuring the real-time and accuracy of the mover movement and improving the system performance of the drive system.

[0099] In step S220 of some embodiments, when the mover runs on the track, its mover movement record is saved, and the mover movement record includes information such as the mover identification, the current position of the mover, and the target location. The drive system may include multiple movers, and the mover identification is used to distinguish different movers. When the mover approaches a segment on the track, the mover will use the segment controller closest to it, that is, the segment controller of the segment it approaches, as the target segment controller, and send its own mover movement record in the form of a data structure to the target segment controller through the communication bus.

[0100] In step S230 of some embodiments, the segment controller is distributed in each segment of the track, and can control the switch state of the associated specific track segment according to the destination or route planning of the mover. The switch state refers to the state of the switch device in the circuit, which is used to indicate whether the switch is in an open state (closed state) or a closed state (disconnected state). The target segment controller reads the mover movement record of the mover located at the segment to which it is associated, and queries the route list stored in the target segment controller according to the current position, destination and mover identification of the mover in the mover movement record, determines the switch position that the mover should pass through according to the route list, controls the switch closure of the segment associated with the target segment controller according to the switch position that should be passed, and obtains a route list linking the switch position of the segment approached by the mover to the destination, so that each segment controller can independently control the state of the switch according to the local situation of the segment and the received instructions, and the mover can automatically select the forward route according to the state of the switch to guide the direction of travel of the mover, realizing the automatic navigation of the mover and the distributed control of the drive system, so that the mover moves on the track according to the predetermined route. The embodiment of the present application combines distributed control and central coordination to achieve precise navigation of the mover on the track, improve the flexibility, scalability, real-time performance, and accuracy of the system, and reduce control energy consumption and control costs.

[0101] In terms of route planning, in addition to static planning based on the mover's movement records, real-time perception technology can also be introduced, such as using sensors to detect obstacles on the track or the position of the mover, to achieve dynamic route planning and obstacle avoidance, and enhance the system's understanding of the link environment. For example, the mover obtains the mover position and obstacle position detected by real-time perception technology, and sends the mover position and obstacle position to the segment controller, which controls the state of the switch based on the mover position, obstacle position, and route list.

[0102] In order to enable the mover to reach its destination smoothly when faced with unexpected situations such as failure, congestion or temporary obstacles in a certain track section, the switch can also form branches between the sections of the track to provide the mover with switchable alternative routes to improve the flexibility, reliability and efficiency of the system. Alternative routes are alternative paths other than the original planned path (main path) of the mover. These paths can be used as alternative paths when the main path is not feasible due to various factors. For example, a section of track in the drive system fails and needs to be repaired, making the original path impassable. The central controller and the section controller can be used to plan an alternative route for the mover to bypass the fault area. After detecting an emergency situation ahead of the track (such as emergency stop due to failure of other movers, etc.), for the safety of the current mover, the path needs to be changed immediately to bypass the dangerous area. Based on the current system status (such as the busyness of each track section, the priority of the mover, etc.), the paths of some movers can also be adjusted through the collaborative work of the central controller and the section controller to select a faster or less resource-intensive alternative route to improve the overall operating efficiency of the system. In some cases, a specific mover may need to reach its destination quickly to complete an emergency task. In this case, a higher priority shortcut route needs to be replanned for the specific mover. Alternative routes can be selected and optimized according to actual application scenarios and requirements to achieve better system performance and user experience. Alternative routes enable the mover to respond to sudden failures or emergencies and ensure safe operation of the mover.

[0103] The switch may use an electrically controllable driver coil. Each segment contains at least one electrically controllable driver coil and a segment controller. The segment controller executes a program stored therein to energize and deenergize the electrically controllable driver coil, thereby controlling the movement of the mover on the track.

[0104] It should be noted that if the track structure allows, a centralized control solution can be adopted, that is, all control logic is completed by a central controller, and the segment controller is only responsible for executing the instructions of the central controller to simplify the system structure. In addition, it is also possible to consider introducing cloud computing or edge computing technology to transfer some computing tasks such as path planning tasks to the cloud or edge devices to improve the system's processing power and response speed.

[0105] See also Figure 7 In some embodiments, after step S230, the system control method may further include but is not limited to steps S710 to S720:

[0106] Step S710, the target segment controller obtains the mover state information of the mover, and sends the mover state information to the central controller;

[0107] Step S720: The central controller adjusts the route list according to the mover status information.

[0108] In step S710 of some embodiments, the mover sends the mover status information to the target section controller, and the target section controller reads the mover status information of the mover and feeds back the mover status information to the central controller so that the central controller can grasp the operating status of the entire system in real time. The mover status information includes the position information, working status and internal health status of the mover. The position information of the mover includes the current position of the mover, the distance between the current position of the mover and the starting station, the position deviation between the current position of the mover and the target station, etc. The working status of the mover is used to reflect the moving state of the mover, such as whether the mover is moving, stopping, accelerating, decelerating, whether the mover has reached the target station, whether the mover issues a fault alarm, etc. The internal health status of the mover is used to reflect the performance of the internal components of the mover, including parameters such as motor temperature, circuit status, feedback scale calibration, and following error between the command position and the actual position.

[0109] In step S720 of some embodiments, after receiving feedback from the target section controller, the central controller dynamically adjusts the route list according to the current position and destination information of the mover in the mover status information to ensure that the mover can reach the destination efficiently and accurately.

[0110] In addition, the central controller can also adjust the working parameters of the segment controller according to the system's mover status information to adapt to the system's dynamic characteristics and optimize the system's performance. Specifically, the central controller conducts a comprehensive analysis of the mover status information collected from each segment controller to determine whether the mover is running according to the path planning results in the system, whether the system is running efficiently, and whether there are any emergencies or potential faults. Based on the analysis results, the central controller formulates a corresponding control strategy, and based on the control strategy, the central controller issues control instructions to the relevant segment controllers. These instructions may be to instruct the mover to change speed, direction, start or stop, or to change the working mode to adapt to the current environment or energy-saving needs. The central controller implements specific adjustments by modifying the working parameters of the segment controller. For example, if the mover status information shows that the moving efficiency on a certain path is lower than the expected efficiency, the central controller may instruct the segment controller to increase the motor power, optimize the moving algorithm, or adjust the obstacle avoidance strategy. If the mover status information shows that the energy is insufficient, the central controller may require a reduction in speed to save energy. In multi-motor or complex systems, the central controller also needs to coordinate the work of different segment controllers to ensure the smooth operation of the overall system and the optimal allocation of resources, avoid conflicts and congestion, and enable the system to handle complex movements between movers. After executing the instructions of the central controller, the segment controller will continue to feed back the latest status information of the actuator to the central controller to form a closed-loop control. The central controller will evaluate the adjustment effect based on the latest status information of the actuator and make further fine-tuning to continuously optimize the system performance.

[0111] In the above steps S710 to S720, by feeding back the mover status information to the central controller, the central controller can grasp the operating status of the mover to adjust the route list, ensure that the mover can accurately reach the destination, and realize automatic and precise navigation of the mover.

[0112] See also Figure 8 The embodiment of the present application further provides a system control device based on a drive system, which can implement the above-mentioned system control method based on a drive system, and the device includes:

[0113] A first sending module 810 is used for the central controller to provide a route list to the segment controller;

[0114] The second sending module 820 is used for the mover to use the segment controller closest to the mover as the target segment controller and send the mover movement record to the target segment controller;

[0115] The control module 830 is used for the target segment controller to control the switch of the segment associated with the target segment controller according to the mover movement record and the route list, so that the mover moves on the track.

[0116] The specific implementation of the system control device based on the drive system is basically the same as the specific implementation of the system control method based on the drive system mentioned above, and will not be repeated here.

[0117] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned system control method based on the drive system when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a car computer, etc.

[0118] See also Fig. 9 , Fig. 9 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0119] The processor 910 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0120] The memory 920 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 920 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 920, and the processor 910 calls and executes the system control method based on the drive system of the embodiment of this application;

[0121] Input / output interface 930, used to implement information input and output;

[0122] Communication interface 940, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0123] bus 950 , which transmits information between the various components of the device (e.g., processor 910 , memory 920 , input / output interface 930 , and communication interface 940 );

[0124] The processor 910 , the memory 920 , the input / output interface 930 , and the communication interface 940 are connected to each other in communication within the device via a bus 950 .

[0125] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the system control method based on the drive system is implemented.

[0126] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0127] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0128] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0129] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0130] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0131] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0132] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0133] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0134] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0136] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0137] The preferred embodiments of the present application are described above with reference to the accompanying drawings, but the scope of the rights of the present application is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present application should be within the scope of the rights of the present application.

Claims

1. A system control method based on a drive system, characterized in that: Applied to a drive system, the drive system includes a mover, a track, a plurality of segment controllers and a central controller, the mover stores a mover movement record, the track includes a plurality of segments, each segment is provided with a switch, each segment controller is associated with a segment, the central controller is connected to the plurality of segment controllers in communication, and the system control method includes: The central controller provides a route list to the segment controller; The mover uses the segment controller closest to the mover as a target segment controller, and sends the mover movement record to the target segment controller; The target segment controller controls the switch of the segment associated with the target segment controller according to the mover movement record and the route list, so that the mover moves on the track; The central controller provides a route list to the section controller, including: obtaining the communication load, system energy consumption and mover task information of the drive system; the mover task information is used to characterize the urgency of the mover task performed by the mover; if the mover task information characterizes that the urgency of the mover task performed by the mover is non-urgent, and at least one of the communication load and the system energy consumption meets the preset system configuration conditions, then determining that the control mode of the drive system is a joint control mode; the preset system configuration conditions include that the communication load is greater than or equal to a preset load threshold, and the system energy consumption is greater than or equal to a preset energy consumption threshold; providing the route list to the section controller according to the joint control mode; The central controller provides the route list to the segment controller, further comprising: obtaining the computing resource utilization of the drive system; if the computing resource utilization meets the preset system configuration condition, determining that the control mode of the drive system is a distributed control mode or a joint control mode; the preset system configuration condition includes that the computing resource utilization is greater than a preset resource utilization threshold; if the control mode is the joint control mode, providing the route list to the segment controller according to the joint control mode; The providing the route list to the section controller according to the joint control mode comprises: acquiring the communication strategy between the central controller and the section controller, the starting position, the target position and the moving direction of the mover according to the joint control mode; performing path planning for the mover according to the starting position, the target position and the moving direction of the mover to obtain the route list; and providing the route list to the section controller according to the communication strategy; After obtaining the communication load, system energy consumption and mover task information of the drive system, the system control method further includes: if the communication load and the system energy consumption do not meet the preset system configuration conditions, determining that the control mode of the drive system is a distributed control mode; if the mover task information indicates that the urgency of the mover task performed by the mover is urgent, determining that the control mode of the drive system is a centralized control mode.

2. The system control method according to claim 1, characterized in that: After the target segment controller controls the switch of the segment associated with the target segment controller according to the mover movement record and the route list so that the mover moves on the track, the system control method further includes: The target section controller acquires the mover state information of the mover, and sends the mover state information to the central controller; The central controller adjusts the route list according to the mover status information.

3. A system control device based on a drive system, characterized in that: Applied to a drive system, the drive system includes a mover, a track, a plurality of segment controllers and a central controller, the mover stores a mover movement record, the track includes a plurality of segments, each segment is provided with a switch, each segment controller is associated with a segment, the central controller is connected to the plurality of segment controllers in communication, and the system control device includes: A first sending module, configured for the central controller to provide a route list to the segment controller; A second sending module is used for the mover to use the segment controller closest to the mover as a target segment controller and send the mover movement record to the target segment controller; A control module, used for the target segment controller to control the switch of the segment associated with the target segment controller according to the mover movement record and the route list, so that the mover moves on the track; The system control device is also used for: Acquire the communication load, system energy consumption and mover task information of the drive system; the mover task information is used to characterize the urgency of the mover task performed by the mover; if the mover task information characterizes that the urgency of the mover task performed by the mover is non-urgent, and at least one of the communication load and the system energy consumption meets the preset system configuration conditions, determine that the control mode of the drive system is a joint control mode; the preset system configuration conditions include that the communication load is greater than or equal to a preset load threshold, and the system energy consumption is greater than or equal to a preset energy consumption threshold; provide the route list to the section controller according to the joint control mode; Obtaining the computing resource utilization of the drive system; if the computing resource utilization meets a preset system configuration condition, determining that the control mode of the drive system is a distributed control mode or a joint control mode; the preset system configuration condition includes that the computing resource utilization is greater than a preset resource utilization threshold; if the control mode is the joint control mode, providing the route list to the segment controller according to the joint control mode; According to the joint control mode, the communication strategy between the central controller and the section controller, the starting position, the target position and the moving direction of the mover are obtained; according to the starting position, the target position and the moving direction of the mover, the path of the mover is planned to obtain the route list; according to the communication strategy, the route list is provided to the section controller; If the communication load and the system energy consumption do not meet the preset system configuration conditions, the control mode of the drive system is determined to be a distributed control mode; if the mover task information indicates that the urgency of the mover task performed by the mover is urgent, the control mode of the drive system is determined to be a centralized control mode.

4. An electronic device, characterized in that The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the system control method based on the drive system according to any one of claims 1 to 2 when executing the computer program.

5. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the system control method based on the drive system described in any one of claims 1 to 2 is implemented.

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