Rotor control method of magnetic drive conveying system and related equipment

Abstract

The embodiment of the invention provides a rotor control method of a magnetic drive conveying system and related equipment. The method comprises the steps that planning operation data of a target rotor and the operation distance between the target rotor and a previous rotor are obtained; obtaining a reference adjustment speed; the minimum braking distance of the target rotor is calculated based on the reference adjusting speed, the reference adjusting speed is updated based on the distance difference value between the safe reference distance and the minimum braking distance, an updated reference adjusting speed is obtained, the updated reference adjusting speed serves as a new reference adjusting speed to conduct minimum braking distance calculation, and the minimum braking distance of the target rotor is obtained. Taking the reference adjustment speed as the maximum safe operation speed until the distance difference value does not exceed the preset distance difference value; and updating the planned operation data of the target rotor based on the maximum safe operation speed, and performing operation control on the target rotor according to the updated planned operation data, thereby effectively improving the operation safety of the rotor in the magnetic drive conveying system on the magnetic suspension conveying track.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a mover control method and related equipment of a magnetic drive conveying system. Background Art

[0002] The use of magnetic levitation conveying technology to transport movers has a wide range of applications in the field of industrial automation, such as assembly and packaging of items on the conveying logistics line, and SMT of precision electronic components. In these applications, it is usually necessary for the movers to run sequentially on the magnetic levitation conveyor track, and to process the workpieces on the movers during the operation. In order to further improve the efficiency of the processing process, it is necessary to divide the appropriate operation planning parameters for each mover in advance.

[0003] In the prior art, before transporting multiple movers on a maglev conveyor track, appropriate operation planning parameters are usually planned for each mover in advance based on the initial speed, initial position and target position of each mover, combined with the operation parameters of the mover itself. However, when the processing equipment processes the workpiece on the mover, the operation data of the mover will inevitably change, and it is impossible to accurately operate according to the operation curve corresponding to the original operation planning parameters, resulting in safety issues such as collision between two adjacent movers. Summary of the invention

[0004] The embodiments of the present application provide a mover control method and related equipment for a magnetic drive conveying system, which can improve the safety of the mover in the magnetic drive conveying system running on a magnetic levitation conveying track.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application proposes a mover control method of a magnetic drive conveying system, the method comprising:

[0006] Acquire the planned operation data of the target mover and the operation distance between the target mover and the previous mover;

[0007] Get reference adjustment speed;

[0008] The minimum braking distance of the target mover is calculated based on the reference adjustment speed, the reference adjustment speed is updated based on the distance difference between the safety reference spacing and the minimum braking distance to obtain an updated reference adjustment speed, and the updated reference adjustment speed is used as a new reference adjustment speed for minimum braking distance calculation until the distance difference does not exceed a preset distance difference, and the reference adjustment speed is used as the maximum safe operating speed, and the safety reference spacing is generated based on the operating spacing;

[0009] The planned operation data of the target mover is updated based on the maximum safe operation speed, and the operation of the target mover is controlled according to the updated planned operation data.

[0010] In some embodiments, the step of calculating the minimum braking distance of the target mover based on the reference adjustment speed includes:

[0011] Get the test braking speed;

[0012] When the reference adjustment speed is greater than the inspection braking speed, the real-time speed of the target mover is adjusted based on the preset safety speed and the maximum jerk of the target mover to obtain an adjusted real-time speed, and the minimum braking distance is calculated based on the adjusted real-time speed, the maximum acceleration of the target mover and the maximum jerk;

[0013] When the reference adjustment speed is not greater than the inspection braking speed, the minimum braking distance is calculated based on the reference adjustment speed, the preset safety speed and the maximum jerk.

[0014] In some embodiments, adjusting the real-time speed of the target mover based on the preset safety speed and the maximum jerk of the target mover to obtain the adjusted real-time speed includes:

[0015] Calculating an adjusted shortest path based on a difference between the reference adjustment speed and the preset safety speed, and the maximum acceleration;

[0016] Calculate a first speed adjustment item and a second speed adjustment item based on the adjusted shortest path, the preset safety speed, and the maximum jerk;

[0017] The adjusted real-time speed is obtained based on the cumulative sum of the first speed adjustment item, the second speed adjustment item and the preset safety speed and divided by three.

[0018] In some embodiments, the minimum braking distance is calculated based on the adjusted real-time speed, the maximum acceleration of the target mover, and the maximum jerk, including:

[0019] Acquire the adjusted real-time distance in the process of adjusting the real-time speed to the adjusted real-time speed;

[0020] Based on the ratio of the maximum acceleration to the maximum jerk, a first variable deceleration time is obtained, and based on the difference between the reference adjustment speed and the preset safety speed, the difference is divided by the maximum acceleration, and then the first variable deceleration time is subtracted to obtain a uniform deceleration time;

[0021] A first distance term is obtained based on the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the reference adjustment speed; a second distance term is obtained based on the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the maximum jerk and the square of the first variable deceleration time; and a third distance term is obtained based on the square of the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the maximum jerk and the first variable deceleration time;

[0022] The minimum braking distance is obtained by subtracting the second distance item and the third distance item from the sum of the first distance item and the adjusted real-time distance.

[0023] In some embodiments, the minimum braking distance is calculated based on the reference adjustment speed, the preset safety speed and the maximum jerk, including:

[0024] Based on the difference between the reference adjustment speed and the preset safety speed, divided by the maximum jerk, and then square rooted, a second variable deceleration time is obtained;

[0025] obtaining a fourth distance term based on the product of the reference adjustment speed and the second variable deceleration time;

[0026] A fifth distance term is obtained based on the cube of the second variable deceleration time and multiplied by the maximum jerk;

[0027] The minimum braking distance is obtained based on the difference between the fourth distance item and the fifth distance item.

[0028] In some embodiments, obtaining a reference adjustment speed includes:

[0029] The lower speed limit is adjusted based on the preset safety speed;

[0030] Obtaining an upper speed limit adjustment based on the maximum speed of the target mover;

[0031] The reference adjustment speed is obtained based on an average value of the adjustment speed upper limit and the adjustment speed lower limit.

[0032] In some embodiments, the updating of the reference adjustment speed based on the distance difference between the safety reference spacing and the minimum braking distance to obtain an updated reference adjustment speed includes:

[0033] Based on the difference between the running distance and the preset safety distance, the safety reference distance is obtained;

[0034] Obtaining a safety distance difference based on a difference between the safety reference distance and the minimum braking distance;

[0035] The reference adjustment speed is updated based on the data relationship between the safety distance difference and the preset distance difference to obtain an updated reference adjustment speed.

[0036] In some embodiments, the updating of the reference adjustment speed based on the data relationship between the safety distance difference and the preset distance difference to obtain an updated reference adjustment speed includes:

[0037] When the safety distance difference is a positive value and the safety distance difference is greater than the preset distance difference, the adjustment speed lower limit is updated based on the reference adjustment speed, and the updated reference adjustment speed is obtained based on the average value of the adjustment speed upper limit and the updated adjustment speed upper limit;

[0038] When the safety distance difference is a negative value and the absolute value of the safety distance difference is greater than the preset distance difference, the adjustment speed upper limit is updated based on the reference adjustment speed, and the updated reference adjustment speed is obtained based on the average value of the adjustment speed lower limit and the updated adjustment speed upper limit.

[0039] In some embodiments, the updating of the planned operation data of the target mover based on the maximum safe operation speed, and the operation control of the target mover according to the updated planned operation data, includes:

[0040] When the maximum safe operating speed is greater than the inspection braking speed, the planned operating data is updated for the first time based on the adjusted real-time speed to obtain first updated planned operating data;

[0041] The first updated planned operation data is updated based on the maximum safe operation speed to obtain second updated planned operation data;

[0042] The target mover is controlled in operation according to the second updated planned operation data.

[0043] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a mover control device of a magnetic drive conveying system, the device comprising:

[0044] A data acquisition module, used to acquire the planned operation data of the target mover and the operation distance between the target mover and the previous mover;

[0045] An adjustment speed acquisition module is used to obtain a reference adjustment speed;

[0046] a maximum safe operating speed calculation module, configured to calculate a minimum braking distance of the target mover based on the reference adjustment speed, update the reference adjustment speed based on a distance difference between a safe reference spacing and the minimum braking distance, obtain an updated reference adjustment speed, and use the updated reference adjustment speed as a new reference adjustment speed for minimum braking distance calculation, until the distance difference does not exceed a preset distance difference, use the reference adjustment speed as the maximum safe operating speed, and the safe reference spacing is generated based on the operating spacing;

[0047] An operation data updating module is used to update the planned operation data of the target mover based on the maximum safe operation speed, and to control the operation of the target mover according to the updated planned operation data.

[0048] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the mover control method of the magnetic drive conveying system as described in the first aspect.

[0049] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, the mover control method of the magnetic drive conveying system described in the first aspect is implemented.

[0050] The embodiment of the present application proposes a mover control method and related equipment for a magnetically driven conveying system, the method comprising: first, obtaining the planned operation data of the target mover and the operation spacing between the target mover and the previous mover; then, obtaining a reference adjustment speed; next, calculating the minimum braking distance of the target mover based on the reference adjustment speed, updating the reference adjustment speed based on the distance difference between the safe reference spacing and the minimum braking distance, obtaining an updated reference adjustment speed, and using the updated reference adjustment speed as the new reference adjustment speed for minimum braking distance calculation, until the distance difference does not exceed the preset distance difference, using the reference adjustment speed as the maximum safe operation speed, and generating the safe reference spacing based on the operation spacing; finally, updating the planned operation data of the target mover based on the maximum safe operation speed, and controlling the operation of the target mover according to the updated planned operation data. The embodiment of the present application is directed to a maglev conveying track with multiple movers running, and uses a reference adjustment speed to calculate the minimum braking distance of a target mover running behind, and iteratively updates the reference adjustment speed based on the minimum braking distance until the distance difference between a safety reference spacing between two consecutive movers and the minimum braking distance is less than a preset distance difference, so that the reference adjustment speed at this time is used as the maximum safe operating speed at which the target mover running behind will not collide with the mover in front in this case, and the planned operating data of the target mover is updated and adjusted based on the maximum safe operating speed, so as to avoid safety problems such as collision between two adjacent movers, thereby effectively improving the safety of the movers in the magnetic drive conveying system running on the maglev conveying track.

[0051] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a structural schematic diagram of a magnetic drive conveying system provided in one embodiment of the present application.

[0053] Figure 2 This is a flow chart of a mover control method of a magnetic drive conveying system provided in yet another embodiment of the present application.

[0054] Figure 3 It is a curve diagram of planning operation data provided by another embodiment of the present application.

[0055] Figure 4 yes Figure 2 Flow chart of step 202 in FIG.

[0056] Figure 5 yes Figure 2Flow chart of step 203 in FIG.

[0057] Figure 6 This is a schematic diagram of a braking deceleration phase provided by another embodiment of the present application.

[0058] Figure 7 yes Figure 5 Flowchart of step 502 in FIG.

[0059] Figure 8 yes Figure 5 Another flow chart of step 502 in FIG.

[0060] Fig. 9 This is another schematic diagram of the braking deceleration phase provided by yet another embodiment of the present application.

[0061] Fig.10 yes Figure 5 Flow chart of step 503 in FIG.

[0062] Fig.11 yes Figure 2 Another flow chart of step 203 in FIG.

[0063] Fig.12 yes Fig.11 Flowchart of step 1103 in FIG.

[0064] Fig.13 It is a curve diagram of updating planned operation data provided by another embodiment of the present application.

[0065] Fig.14 yes Figure 2 Flow chart of step 204 in FIG.

[0066] Fig.15 It is a structural schematic diagram of a mover control device of a magnetic drive conveying system provided in one embodiment of the present application.

[0067] Fig.16 It is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0068] 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.

[0069] It should be noted that although the functional modules are divided in the device schematic 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.

[0070] 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.

[0071] The use of magnetic levitation conveying technology to transport movers has a wide range of applications in the field of industrial automation, such as assembly and packaging of items on the conveying logistics line, and SMT of precision electronic components. In these applications, it is usually necessary for the movers to run sequentially on the magnetic levitation conveyor track, and to process the workpieces on the movers during the operation. In order to further improve the efficiency of the processing process, it is necessary to divide the appropriate operation planning parameters for each mover in advance.

[0072] In the prior art, before transporting multiple movers on a maglev conveyor track, appropriate operation planning parameters are usually planned for each mover in advance based on the initial speed, initial position and target position of each mover, combined with the operation parameters of the mover itself. However, when the processing equipment processes the workpiece on the mover, the operation data of the mover will inevitably change, and it is impossible to accurately operate according to the operation curve corresponding to the original operation planning parameters, resulting in safety issues such as collision between two adjacent movers.

[0073] In order to improve the safety of the movement of the mover on the maglev conveying track in the magnetic drive conveying system, the embodiment of the present application is aimed at the maglev conveying track with multiple movers running, and uses the reference adjustment speed to calculate the minimum braking distance of the target mover running behind, and iteratively updates the reference adjustment speed based on the minimum braking distance until the distance difference between the safety reference spacing between two consecutive movers and the minimum braking distance is less than the preset distance difference, so that the reference adjustment speed at this time is used as the maximum safe operating speed at which the target mover running behind will not collide with the mover in front in this case, and the planned operation data of the target mover is updated and adjusted based on the maximum safe operating speed, so as to avoid safety problems such as collision between two adjacent movers, thereby effectively improving the safety of the movement of the mover on the maglev conveying track in the magnetic drive conveying system.

[0074] In order to better illustrate the mover control method of the magnetic drive conveying system provided in the embodiment of the present application, this embodiment first describes the magnetic levitation conveying track using the mover control method. Figure 1 As shown in FIG. 1 , it is a schematic diagram of the structure of a magnetic drive conveying system provided in an embodiment of the present application. Figure 1 As shown, the magnetic drive conveying system includes a magnetic levitation conveying track and a plurality of movers running sequentially on the magnetic levitation conveying track. During the operation of these movers, there is a processing device to process the workpieces carried by these movers.

[0075] Based on the above-mentioned magnetic drive conveying system, the mover control method of the magnetic drive conveying system in the embodiment of the present application will be described in detail below. Figure 2 , which is an optional flow chart of a mover control method of a magnetic drive conveying system provided in an embodiment of the present application, Figure 2 The method may include but is not limited to steps 201 to 204. It can also be understood that this embodiment Figure 2 The order of steps 201 to 204 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs. The mover control method of the magnetic drive conveying system provided in the embodiment of the present application can be applied to intelligent terminals, servers, computers, etc. connected to the magnetic levitation conveying track.

[0076] Step 201: Acquire the planned operation data of the target mover and the operation distance between the target mover and the previous mover.

[0077] Step 201 is described in detail below.

[0078] In some embodiments, in order to ensure the orderly operation of multiple movers and meet the speed parameter requirements of multiple processing equipment on the maglev conveyor track when processing the passing movers, a controller connected to the magnetic drive conveying system (which can be an intelligent terminal such as a computer) pre-plans appropriate planned operation data for each mover, and controls multiple movers to operate on the maglev conveyor track in turn.

[0079] The pre-obtained planned operation data may be a conventional three-stage operation data plan or a seven-stage operation data plan.

[0080] Reference Figure 3 , is a curve diagram of a planning operation data provided by an embodiment of the present application. Figure 3 As shown in the figure, the acceleration-time operation curves obtained by performing three-stage operation data planning and seven-stage operation data planning for the mover are respectively. The data planning of the three-stage planning and the seven-stage planning will be further described in detail below. The three-stage planning refers to the operation data planning of the mover's acceleration, uniform acceleration and deceleration stages, which can be obtained by the following formula (1).

[0081]

[0082] Among them, p is the position parameter, v is the speed parameter, a is the acceleration parameter, jerk is the acceleration parameter, t is the time parameter, and {A, B, C, D} are all control planning parameters. Formula (1) is the ABCD description form of position, speed and time. According to the planning shown in formula (1), based on the speed parameter requirements of the processing equipment and the position information of the processing equipment in advance, combined with the starting position and starting speed of the mover on the maglev conveyor track, the control planning parameters {A, B, C, D} can be determined using formula (1), and the position, speed and acceleration information at each moment can be determined without interference.

[0083] After the three-stage planning is performed to obtain the planned operation data, since some processing equipment requires the speed to be zero during processing, or the speed requirement of the mover is zero when it runs to the end of the maglev conveyor track, it is necessary to perform appropriate deceleration operations on the mover, that is, the acceleration operations of the first three-stage planning are symmetrically obtained to obtain deceleration operations (i.e., acceleration and deceleration, uniform deceleration, and deceleration and deceleration), thereby obtaining a symmetrical seven-stage planning (which includes the mover's acceleration, uniform acceleration, deceleration, uniform speed, acceleration and deceleration, uniform deceleration, and deceleration and deceleration) operation data planning.

[0084] In some embodiments, in actual situations, when the mover passes through the processing equipment on the magnetic levitation conveyor track to process the workpiece it carries, the operating data of the mover will inevitably be affected (that is, the speed of the mover will inevitably be reduced). Furthermore, due to the reduction in speed of a certain mover, the running distance between the next mover adjacent to the mover is reduced, thereby causing safety issues such as collision between the two adjacent movers.

[0085] Therefore, in this embodiment, after obtaining the planned operation data of each mover and placing these movers on the maglev conveyor track in turn for operation, the operation distance between each two adjacent movers is monitored in real time, and the mover at the rear of the two adjacent movers is used as the target mover. Then, in order to further improve the operation safety and operation efficiency of the target mover, it is necessary to calculate the maximum safe operation speed at which the target mover will not collide with the mover in front under the current situation based on the real-time operation distance, so as to adjust the planned operation data of the target mover according to the maximum safe operation speed.

[0086] In addition, the real-time operation data of the target mover is also obtained in real time, and the real-time operation data includes the real-time speed v of the target mover. s and real-time acceleration a s .

[0087] How to obtain the maximum safe operating speed of the target mover will be described in further detail below.

[0088] Step 202: Obtain the minimum braking distance of the target mover based on the real-time operation data.

[0089] Step 202 is described in detail below.

[0090] In some embodiments, after the real-time operation data of the target mover is obtained, the minimum braking distance of the target mover under the current real-time operation data is further calculated based on the target mover and fixed parameters of the mover.

[0091] Among them, the fixed parameter refers to the maximum acceleration a of the mover. dm , maximum jerk j dm And the preset braking time t ds It is understandable that the fixed parameters of each mover may be consistent, or different movers may have different fixed parameters. The following will further describe in detail how to obtain the minimum braking distance of the target mover.

[0092] Step 202: Obtain a reference adjustment speed.

[0093] Step 202 is described in detail below.

[0094] In order to determine the most suitable maximum safe operating speed for the target mover, a binary search method is used for calculation in the embodiment of the present application. Therefore, it is necessary to obtain an initial reference adjustment speed in advance so as to use the initial reference adjustment speed to gradually iterate to the appropriate maximum safe operating speed. The following will further describe how to obtain the initial reference adjustment speed.

[0095] Reference Figure 4 , obtaining a reference adjustment speed, including the following steps 401 to 403.

[0096] Step 401: Obtain an adjusted speed lower limit based on a preset safety speed.

[0097] Step 402: obtaining an upper speed limit of the adjustment speed based on the maximum speed of the target mover.

[0098] Step 403: Obtain a reference adjustment speed based on an average value of the adjustment speed upper limit and the adjustment speed lower limit.

[0099] Steps 401 to 403 are described in detail below.

[0100] In some embodiments, a preset safety speed v is first determined. e , the preset safety speed v e is a safe extremely low speed value determined based on the working parameters of the target mover, which can be understood as the target mover moving at a preset safe speed v eThe speed value is 0, which means v e = 0. Then the preset safety speed v e As the lower speed limit v m,1 =v e , and the maximum velocity v of the target mover max Get the upper limit of the adjustment speed v m,2 =v max Finally, the initial reference adjustment speed v is obtained based on the average value of the upper and lower adjustment speed limits. m =(v m,1 +v m,2 ) / 2.

[0101] Step 203: Calculate the minimum braking distance of the target mover based on the reference adjustment speed, update the reference adjustment speed based on the distance difference between the safety reference spacing and the minimum braking distance, obtain an updated reference adjustment speed, and use the updated reference adjustment speed as the new reference adjustment speed for minimum braking distance calculation until the distance difference does not exceed the preset distance difference, and use the reference adjustment speed as the maximum safe operating speed.

[0102] Step 203 is described in detail below.

[0103] In some embodiments, after obtaining the initial reference adjustment speed v m After that, the target mover will first calculate the reference adjustment speed v m The minimum braking distance BrakDis required when braking in the case of all The distance difference S between the minimum braking distance BrakDis all -BrakDis adjusts the speed v to the reference m Iterative update is performed to obtain the maximum safe operating speed that is most suitable for the target mover. The following first further describes how to obtain the minimum braking distance of the target mover at the reference adjustment speed.

[0104] Reference Figure 5 , the minimum braking distance of the target mover is calculated based on the reference adjustment speed, including the following steps 501 to 503.

[0105] Step 501: Obtain the inspection braking speed.

[0106] Step 502: When the reference adjustment speed is greater than the test braking speed, the real-time speed of the target mover is adjusted based on the preset safety speed and the maximum jerk of the target mover to obtain the adjusted real-time speed, and the minimum braking distance is calculated based on the adjusted real-time speed, the maximum acceleration of the target mover and the maximum jerk.

[0107] Steps 501 to 502 are described in detail below.

[0108] In some embodiments, first, based on the maximum acceleration a of the target mover dm The square of the maximum jerk j dm The ratio of the test braking speed v check =a dm 2 / j dm , and then adjust the reference speed v m And test brake speed v check Perform numerical matching to determine the reference adjustment speed v m As the braking starting speed, when it drops to the preset safety speed v e Is there a uniform deceleration stage in the process?

[0109] When the reference adjustment speed v m Greater than the test braking speed v check When the reference adjustment speed v m It is relatively large and cannot be directly adjusted to the reference speed v in the acceleration and deceleration stages. m Reduce to the preset safety speed v e . Reference Figure 6 , is a schematic diagram of a braking deceleration phase provided in an embodiment of the present application. Figure 6 As shown in the figure, the reference adjustment speed v m Greater than the test braking speed v check When the target mover adjusts its speed from the reference speed v m Reduce to the preset safety speed v e The acceleration curve in the process includes an acceleration / deceleration curve, a uniform deceleration curve and a deceleration / acceleration curve.

[0110] In this case, based on the preset safety speed v e and the maximum jerk of the target mover j dm The real-time velocity v of the target mover s Adjust to get the real-time speed v s' , so that the real-time speed v can be adjusted later s' 、The maximum acceleration of the target mover a dm and the maximum jerk j dm The minimum braking distance is calculated. The following further describes how to adjust the real-time speed of the target mover to adjust the real-time speed.

[0111] Reference Figure 7, adjusting the real-time speed of the target mover based on the preset safety speed and the maximum jerk of the target mover to obtain the adjusted real-time speed, including the following steps 701 to 703.

[0112] Step 701: Calculate and obtain an adjusted shortest path based on the difference between the reference adjusted speed and the preset safety speed, and the maximum acceleration.

[0113] Step 702: Calculate a first speed adjustment item and a second speed adjustment item based on the adjusted shortest path, the preset safety speed, and the maximum jerk.

[0114] Step 703: Based on the cumulative sum of the first speed adjustment item, the second speed adjustment item and the preset safety speed, the adjusted real-time speed is obtained by dividing the sum by three.

[0115] Steps 701 to 703 are described in detail below.

[0116] In some embodiments, for the reference adjustment speed v m Greater than the test braking speed v check In order to ensure the safety of the target mover during actual operation, the speed v will be adjusted based on the reference of the target mover. m and preset safety speed v e The difference v s -v e , and then with the maximum acceleration a dm Calculation is performed to obtain directly the adjusted speed v from the reference m Directly drop to test braking speed v check The corresponding adjusted shortest path S dec_min Then, combined with Sheng Jin’s formula, we can get the real-time speed v s' , specifically based on adjusting the shortest path S dec_min , preset safety speed v e , maximum jerk j dm The first speed adjustment term Y1 and the second speed adjustment term Y2 are calculated as shown in the following formula (2).

[0117]

[0118] Then, based on the cumulative sum of the first speed adjustment term Y1, the second speed adjustment term Y2, and the preset safety speed, and divided by three, and then taking the negative number, the initial speed v is obtained. s Adjust the real-time speed v s' As shown in the following formula (3).

[0119]

[0120] Through the above steps 701 to 703, in the case where the reference adjustment speed is greater than the test braking speed, the corresponding adjustment shortest path when the reference adjustment speed is directly reduced to the test braking speed is used to determine the real-time speed of the target mover for the first adjustment, thereby preliminarily ensuring that the target mover can stop completely within the allowed distance when encountering an emergency, avoiding collision between the target mover and the previous mover, so as to improve the operating safety of the target mover.

[0121] Reference Figure 8 , the minimum braking distance is calculated based on the adjusted real-time speed, the maximum acceleration of the target mover, and the maximum jerk, including the following steps 801 to 804.

[0122] Step 801: obtaining the adjusted real-time distance in the process of adjusting the real-time speed to the real-time speed.

[0123] Step 802: Based on the ratio of the maximum acceleration to the maximum jerk, a first variable deceleration time is obtained, based on the difference between the reference adjustment speed and the preset safety speed, and divided by the maximum acceleration, and then subtracted from the first variable deceleration time to obtain the uniform deceleration time.

[0124] Step 803: Based on the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the reference adjustment speed, a first distance term is obtained; based on the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the maximum jerk and the square of the first variable deceleration time, a second distance term is obtained; and based on the square of the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the maximum jerk and the first variable deceleration time, a third distance term is obtained.

[0125] Step 804: Based on the sum of the first distance item and the adjusted real-time distance, the second distance item and the third distance item are subtracted to obtain the minimum braking distance.

[0126] Steps 801 to 804 are described in detail below.

[0127] In some embodiments, for the reference adjustment speed v m Greater than the test braking speed v check The situation is v m >v check , first obtain the real-time speed v s At maximum acceleration a dm Adjust to adjust real-time speed v s' The corresponding adjustment of the real-time distance S in the process t As shown in the following formula (4).

[0128]

[0129] In addition, based on the maximum acceleration a of the target moverdm and the maximum jerk j dm The ratio of the target mover to the reference speed v m Reduce to the preset safety speed v e The first variable deceleration time t1=a corresponding to the acceleration and deceleration phase and the deceleration phase in the process dm / j dm ; Afterwards, adjust the speed v based on the reference m and preset safety speed v e The difference between the two values ​​is divided by the maximum acceleration a dm , then subtract the first variable deceleration time t1, and get the target mover from the reference adjustment speed v m Reduce to the preset safety speed v e The uniform deceleration time t2 corresponding to the uniform deceleration stage in the process is (v m -v e ) / a dm -t1.

[0130] Further, based on the sum of the first variable deceleration time t1 and the uniform deceleration time t2, which is doubled, multiplied by the reference adjustment speed v m , get the first distance term v m (2t1+t2); At the same time, based on the sum of the first variable deceleration time t1 and the uniform deceleration time t2, multiply it by the maximum jerk j dm and the square of the first variable deceleration time t1 2 , and multiply it by half to get the second distance term j dm t1 2 (t2+t1) / 2; and, based on the square of the sum of the first variable deceleration time t1 and the uniform deceleration time t2, multiplied by the maximum jerk j dm and the first variable deceleration time t1, and multiply by one half to obtain the third distance term j dm t1(t2+t1) 2 / 2.

[0131] Finally, based on the first distance term v m (2t1+t2) and adjust the real-time distance S t The sum of the two, minus the second distance term j dm t1 2 (t2+t1) / 2 and the third distance term j dm t1(t2+t1) 2 / 2 to get the reference adjustment speed v m Greater than the test braking speed v check The minimum braking distance BrakDis under the condition is as shown in the following formula (5).

[0132]

[0133] Through the above steps 801 to 804, for the case where the reference adjustment speed is greater than the test braking speed, that is, when there is a uniform deceleration, the first variable deceleration time obtained by the maximum acceleration and the maximum jerk and the uniform deceleration time obtained by the difference between the reference adjustment speed and the preset safety speed are used, and further combined with the adjusted real-time distance in the process of adjusting the real-time speed to the adjusted real-time speed, the minimum braking distance in this case is accurately calculated, so as to facilitate the subsequent use of the minimum braking distance to more accurately adjust the reference adjustment speed, so as to improve the accuracy of the calculated maximum safe operating speed.

[0134] Step 503: When the reference adjustment speed is not greater than the inspection braking speed, the minimum braking distance is calculated based on the reference adjustment speed, the preset safety speed and the maximum jerk.

[0135] Step 503 is described in detail below.

[0136] When the reference adjustment speed v m Not greater than the test braking speed v check When the reference adjustment speed v m Relatively small, the reference speed v can be adjusted through the acceleration and deceleration stages. m Reduce to the preset safety speed v e . Reference Fig. 9 , is another schematic diagram of the braking deceleration phase provided by the embodiment of the present application. Fig. 9 As shown in the figure, the reference adjustment speed v m Not greater than the test braking speed v check When the target mover adjusts its speed from the reference speed v m Reduce to the preset safety speed v e The acceleration curve in the process includes only the acceleration / deceleration curve and the deceleration / acceleration curve.

[0137] The following will further describe the reference adjustment speed v m Not greater than the test braking speed v check How to calculate the minimum braking distance.

[0138] Reference Fig.10 , the minimum braking distance is calculated based on the reference adjustment speed, the preset safety speed and the maximum jerk, including the following steps 1001 to 1004.

[0139] Step 1001: Based on the difference between the reference adjustment speed and the preset safety speed, the difference is divided by the maximum jerk, and then squared to obtain the second variable deceleration time.

[0140] Step 1002: Obtain a fourth distance term based on the product of the reference adjustment speed and the second variable deceleration time.

[0141] Step 1003: Based on the cube of the second variable deceleration time and multiplied by the maximum jerk, a fifth distance term is obtained.

[0142] Step 1004: Obtain the minimum braking distance based on the difference between the fourth distance item and the fifth distance item.

[0143] Steps 1001 to 1004 are described in detail below.

[0144] In some embodiments, for the reference adjustment speed v m Not greater than the test braking speed v ch ec k The situation is v m ≤v check , first, adjust the speed v based on the reference m and preset safety speed v e The difference between the acceleration and the maximum acceleration j dm , and then perform square root processing to obtain the target mover adjustment speed v from the reference m Reduce to the preset safety speed v e The second variable deceleration time corresponding to the acceleration and deceleration phase and the deceleration phase in the process

[0145] Furthermore, the speed v is adjusted based on the reference m The product of twice the second variable deceleration time t3 gives the fourth distance term v m 2t3, and t1 based on the cube of the second variable deceleration time 3 , and multiply by the maximum jerk j dm , and get the fifth distance term j dm t3 3 .

[0146] Then, based on the difference between the fourth distance term and the fifth distance term, the reference adjustment speed v is obtained. m Not greater than the test braking speed v check The minimum braking distance BrakDis under the condition is as shown in the following formula (6).

[0147] BrakDis=v m 2t3-j dm t3 3 (6)

[0148] Through the above steps 1001 to 1004, for the case where the reference adjustment speed is not greater than the test braking speed, that is, when there are only acceleration and deceleration stages and deceleration and deceleration stages, the second variable deceleration time obtained by the maximum acceleration and the maximum jerk is used to accurately calculate the minimum braking distance in this case, so as to facilitate the subsequent use of the minimum braking distance to more accurately adjust the reference adjustment speed, so as to improve the accuracy of the calculated maximum safe operating speed.

[0149] After obtaining the target mover, the speed v is adjusted according to the reference m After the minimum braking distance BrakDis is determined, the reference adjustment speed will be iteratively updated based on the distance difference between the safety reference distance and the minimum braking distance to obtain a suitable maximum safe operating speed, as described below.

[0150] Reference Fig.11 , updating the reference adjustment speed based on the distance difference between the safety reference spacing and the minimum braking distance to obtain an updated reference adjustment speed, including steps 1101 to 1103.

[0151] Step 1101: Obtain a safety reference distance based on the difference between the operating distance and the preset safety distance.

[0152] Step 1102: Obtain a safety distance difference based on the difference between the safety reference distance and the minimum braking distance.

[0153] Step 1103: updating the reference adjustment speed based on the data relationship between the safety distance difference and the preset distance difference to obtain an updated reference adjustment speed.

[0154] Steps 1101 to 1103 are described in detail below.

[0155] In some embodiments, in order to obtain the accurate maximum safe operating speed MaxSafeVel and to further improve the safety of the mover running on the maglev conveyor track, it is also necessary to set a preset safety distance x to ensure that an emergency occurs between the two movers. safe It can be understood that, under normal circumstances, the running distance x between two adjacent movers is s Need to be greater than the preset safety distance x safe . Then based on the running spacing x s And preset safety distance x safe The difference between the target mover and the adjacent previous mover is obtained to obtain the safe reference distance x for braking. all =x s -x safe .

[0156] Then, based on the safety reference spacing xall The difference between the minimum braking distance BrakDis and the safety distance difference x all -BrakDis, next, based on the safety distance difference x all -Data relationship between BrakDis and preset distance difference δ for reference adjustment speed v m Perform iterative updates to obtain the updated reference adjustment speed v m '. The preset distance difference δ is a preset value for terminating the binary division iteration process, which is a very small constant value.

[0157] How to update the reference adjustment speed will be further described below.

[0158] Reference Fig.12 , based on the data relationship between the safety distance difference and the preset distance difference, the reference adjustment speed is updated to obtain an updated reference adjustment speed, including the following steps 1201 to 1202.

[0159] Step 1201: When the safety distance difference is a positive value and is greater than the preset distance difference, the lower limit of the adjustment speed is updated based on the reference adjustment speed, and an updated reference adjustment speed is obtained based on the average of the upper limit of the adjustment speed and the updated upper limit of the adjustment speed.

[0160] Step 1202: When the safety distance difference is a negative value and the absolute value of the safety distance difference is greater than the preset distance difference, the upper limit of the adjustment speed is updated based on the reference adjustment speed, and an updated reference adjustment speed is obtained based on the average value of the lower limit of the adjustment speed and the updated upper limit of the adjustment speed.

[0161] Steps 1201 to 1202 are described in detail below.

[0162] In some embodiments, when the absolute value of the safety distance difference |x all -BrakDis| is greater than the preset distance difference δ, that is, x all -BrakDis|>δ, it means that the reference adjustment speed v corresponding to the current minimum braking distance BrakDis m Not suitable, needs adjustment.

[0163] Furthermore, when the safety distance difference is a positive value and the safety distance difference is greater than the preset distance difference, that is, x all -BrakDis>δ, then the reference adjustment speed v corresponding to the current minimum braking distance BrakDis is represented m If it is too small, it needs to be adjusted. In this case, adjust the speed v based on the reference at this time. m Update and adjust the lower limit of speed, that is, v m,1 =vm , and obtain the updated reference adjustment speed based on the average of the adjustment speed upper limit and the updated adjustment speed upper limit, that is, v m '=(v m,1 +v m,2 ) / 2.

[0164] Conversely, when the safety distance difference is negative and the absolute value of the safety distance difference is greater than the preset distance difference, that is, x all -BrakDis<δ,|x all -BrakDis|>δ, then the reference adjustment speed v corresponding to the current minimum braking distance BrakDis is represented m Too large and needs to be adjusted. In this case, adjust the speed v based on the reference at this time m Update and adjust the speed limit, i.e. v m,2 =v m , and obtain the updated reference adjustment speed based on the average of the adjustment speed upper limit and the updated adjustment speed upper limit, that is, v m '=(v m,1 +v m,2 ) / 2.

[0165] After getting the updated reference, adjust the speed v m 'After that, the reference adjustment speed v will be updated m 'Adjust speed v as new reference m To calculate the minimum braking distance until the absolute value of the safety distance difference |x all -BrakDis| does not exceed the preset distance difference δ, that is, |x all -BrakDis|≤δ, adjust the reference speed v m MaxSafeVel is the maximum safe operating speed that best suits the current target mover.

[0166] Through the above steps 1101 to 1103, and steps 1201 to 1202, based on the idea of ​​dichotomy, the safety distance difference obtained by the minimum braking distance corresponding to the reference adjustment speed is compared with the preset distance difference, so as to iteratively update the reference adjustment speed until the accuracy requirement of the safety distance difference is met, so as to obtain the maximum operating speed at which the target mover can run without colliding with the previous mover, thereby improving the safety and work efficiency of the target mover running on the maglev conveyor track.

[0167] Step 204: updating the planned operation data of the target mover based on the maximum safe operation speed, and performing operation control on the target mover according to the updated planned operation data.

[0168] Step 204 is described in detail below.

[0169] In some embodiments, after obtaining the maximum safe operating speed MaxSafeVel of the target mover, the planned operating data of the target mover will be updated based on the maximum safe operating speed MaxSafeVel, and the operation of the target mover will be controlled according to the updated planned operating data, thereby ensuring the safety of the target mover's operation on the magnetic levitation conveyor track.

[0170] Reference Fig.13 , is a curve diagram of updating planning operation data provided by an embodiment of the present application. Fig.13 As shown in the figure, a real-time safety detection of a certain mover is performed on the mover based on the original planned operation data (i.e., the maximum safe operating speed of the mover corresponding to the current situation is obtained), and then when the real-time speed of the mover is greater than the maximum safe operating speed, the speed of the mover is adjusted and decelerated in three stages to reduce the operating speed of the mover to the maximum safe operating speed, and then the adjusted operation data is planned again in seven stages to obtain updated seven-stage planned operation data and perform operation control.

[0171] In addition, if the maximum safe operating speed MaxSafeVel that needs to be adjusted is too large, that is, the maximum safe operating speed is greater than the inspection braking speed, then in combination with the description of the above step 502, the operation planning data of the target mover needs to be replanned, as described below.

[0172] Reference Fig.14 , updating the planned operation data of the target mover based on the maximum safe operation speed, and controlling the operation of the target mover according to the updated planned operation data, including the following steps 1401 to 1403.

[0173] Step 1401: When the maximum safe operating speed is greater than the inspection braking speed, the planned operating data is updated for the first time based on the adjustment of the real-time speed to obtain the first updated planned operating data.

[0174] Step 1402: Update the first updated planned operation data based on the maximum safe operation speed to obtain the second updated planned operation data.

[0175] Step 1403: Controlling the operation of the target mover according to the second updated planned operation data.

[0176] Steps 1401 to 1403 are described in detail below.

[0177] In some embodiments, when the maximum safe operating speed MaxSafeVel is greater than the inspection braking speed v checkIn combination with the description of step 502, in order to ensure the safety of the target mover during the actual operation, it is necessary to first adjust the speed v based on the maximum safe operation speed MaxSafeVel (i.e., the reference adjustment speed v in the last iteration process). m ) corresponds to the real-time speed adjustment v s' (i.e., formula (3)) to update the planned operation data for the first time (i.e., first update the real-time speed v s Adjust to adjust real-time speed v s' ), obtain the adjusted first updated planned operation data, then update the first updated planned operation data based on the maximum safe operating speed MaxSafeVel, obtain the second updated planned operation data, and control the operation of the target mover according to the second updated planned operation data.

[0178] Through the above steps 1201 to 1202, for the case where the maximum safe operating speed is greater than the inspection braking speed, the real-time speed of the target mover is first adjusted to the adjusted real-time speed to preliminarily ensure that the target mover can stop completely within the allowed distance when encountering an emergency, so as to avoid the target mover from colliding with the previous mover; and then the operation planning data of the target mover after the preliminary adjustment is further updated and adjusted according to the maximum safe operating speed, thereby greatly improving the operation safety of the target mover.

[0179] The mover control method and related equipment of the magnetic drive conveying system proposed in the embodiment of the present application include: first, obtaining the planned operation data of the target mover and the operation distance between the target mover and the previous mover; then, obtaining the lower limit of the adjustment speed based on the preset safety speed, obtaining the upper limit of the adjustment speed based on the maximum speed of the target mover, and obtaining the reference adjustment speed based on the average value of the upper limit of the adjustment speed and the lower limit of the adjustment speed;Next, obtain the inspection braking speed. When the reference adjustment speed is greater than the inspection braking speed, the adjusted shortest path is calculated based on the difference between the reference adjustment speed and the preset safety speed, and the maximum acceleration. The first speed adjustment item and the second speed adjustment item are calculated based on the adjusted shortest path, the preset safety speed, and the maximum jerk. The adjusted real-time speed is obtained based on the cumulative sum of the first speed adjustment item, the second speed adjustment item, and the preset safety speed, and divided by three. The adjusted real-time distance in the process of adjusting the real-time speed to the adjusted real-time speed is obtained. The first deceleration time is obtained based on the ratio of the maximum acceleration to the maximum jerk. The difference between the reference adjustment speed and the preset safety speed is divided by the maximum acceleration, and then the first deceleration time is subtracted to obtain Uniform deceleration time, based on the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the reference adjustment speed, to obtain the first distance term, based on the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the maximum jerk and the square of the first variable deceleration time, to obtain the second distance term, and based on the square of the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the maximum jerk and the first variable deceleration time, to obtain the third distance term, based on the sum of the first distance term and the adjusted real-time distance, subtracting the second distance term and the third distance term to obtain the minimum braking distance, when the reference adjustment speed is not greater than the inspection braking speed, based on the difference between the reference adjustment speed and the preset safety speed, divided by the maximum jerk, and then square rooted to obtain the second variable deceleration time, based on the reference adjustment speed and the product of the second variable deceleration time to obtain a fourth distance term, based on the cube of the second variable deceleration time and multiplied by the maximum jerk, to obtain a fifth distance term, based on the difference between the fourth distance term and the fifth distance term, to obtain the minimum braking distance, and then based on the difference between the running distance and the preset safety distance, to obtain a safety reference distance, based on the difference between the safety reference distance and the minimum braking distance, to obtain a safety distance difference, when the safety distance difference is a positive value and the safety distance difference is greater than the preset distance difference, based on the reference adjustment speed to update the lower limit of the adjustment speed, and based on the average of the upper limit of the adjustment speed and the updated upper limit of the adjustment speed to obtain an updated reference adjustment speed, when the safety distance difference is a negative value and the absolute value of the safety distance difference is greater than the preset distance difference, based on the reference adjustment speed The adjustment speed updates the upper limit of the adjustment speed, and obtains the updated reference adjustment speed based on the average value of the lower limit of the adjustment speed and the updated upper limit of the adjustment speed, and uses the updated reference adjustment speed as the new reference adjustment speed for minimum braking distance calculation, until the distance difference does not exceed the preset distance difference, and uses the reference adjustment speed as the maximum safe operation speed, and the safe reference interval is generated based on the operation interval; finally, when the maximum safe operation speed is greater than the inspection braking speed, the planned operation data is updated for the first time based on the adjustment real-time speed to obtain the first updated planned operation data, and the first updated planned operation data is updated based on the maximum safe operation speed to obtain the second updated planned operation data, and the target mover is operated and controlled according to the second updated planned operation data. ;

[0180] The embodiment of the present application is directed to a maglev conveyor track with multiple movers running. For the case where the reference adjustment speed is greater than the inspection braking speed, the corresponding adjustment shortest path when the reference adjustment speed is directly reduced to the inspection braking speed is used to determine the adjusted real-time speed of the target mover for the first adjustment of the real-time speed, thereby preliminarily ensuring that the target mover can stop completely within the allowed distance when encountering an emergency, avoiding the collision between the target mover and the previous mover, so as to improve the operation safety of the target mover; and, for the case where the reference adjustment speed is greater than the inspection braking speed, that is, when there is a uniform deceleration, the first variable deceleration time obtained by the maximum acceleration and the maximum jerk and the uniform deceleration time obtained by the difference between the reference adjustment speed and the preset safety speed are used, and the minimum braking distance in the case is accurately calculated in combination with the adjusted real-time distance in the process of adjusting the real-time speed to the adjusted real-time speed, so as to facilitate the subsequent use of the minimum braking distance to more accurately adjust the reference adjustment speed, so as to improve the accuracy of the calculated maximum safe operating speed; similarly, for the case where the reference adjustment speed is not greater than the inspection braking speed, that is, when there are only acceleration and deceleration stages and deceleration and deceleration stages, the first variable deceleration time obtained by the maximum acceleration and the maximum jerk and the uniform deceleration time obtained by the difference between the reference adjustment speed and the preset safety speed are used, and the minimum braking distance in the case is accurately calculated, so as to facilitate the subsequent use of the minimum braking distance to more accurately adjust the reference adjustment speed, so as to improve the accuracy of the calculated maximum safe operating speed; similarly, for the case where the reference adjustment speed is not greater than the inspection braking speed, that is, when there are only acceleration and deceleration stages, the maximum acceleration and the maximum jerk are used. The second variable deceleration time obtained by the speed is used to accurately calculate the minimum braking distance in this case, so that the reference adjustment speed can be adjusted more accurately by using the minimum braking distance in the future, so as to improve the accuracy of the calculated maximum safe operating speed; and, based on the idea of ​​dichotomy, the safe distance difference obtained by the minimum braking distance corresponding to the reference adjustment speed is compared with the preset distance difference, so as to iteratively update the reference adjustment speed until the accuracy requirement of the safe distance difference is met, so as to obtain the maximum operating speed that the target mover can run without colliding with the previous mover, thereby improving the safety and work efficiency of the target mover running on the maglev conveyor track; in addition, for the case where the maximum safe operating speed is greater than the inspection braking speed, the real-time speed of the target mover is first adjusted to the adjusted real-time speed, so as to preliminarily ensure that the target mover can stop completely within the allowed distance when encountering an emergency, so as to avoid the collision of the target mover with the previous mover; and then the operation planning data of the target mover after the preliminary adjustment is updated and adjusted according to the maximum safe operating speed, so as to avoid safety problems such as collision between two adjacent movers, thereby effectively improving the safety of the mover running on the maglev conveyor track in the magnetic drive conveying system.

[0181] The present application also provides a mover control device for a magnetic drive conveying system, which can implement the mover control method for the magnetic drive conveying system. Fig.15 , the device 1500 comprises:

[0182] The data acquisition module 1510 is used to acquire the planned operation data of the target mover and the operation distance between the target mover and the previous mover;

[0183] An adjustment speed acquisition module 1520 is used to acquire a reference adjustment speed;

[0184] A maximum safe operating speed calculation module 1530 is used to calculate the minimum braking distance of the target mover based on the reference adjustment speed, update the reference adjustment speed based on the distance difference between the safe reference spacing and the minimum braking distance, obtain an updated reference adjustment speed, and use the updated reference adjustment speed as the new reference adjustment speed for minimum braking distance calculation until the distance difference does not exceed the preset distance difference, and use the reference adjustment speed as the maximum safe operating speed, and the safe reference spacing is generated based on the operating spacing;

[0185] The operation data updating module 1540 is used to update the planned operation data of the target mover based on the maximum safe operation speed, and perform operation control on the target mover according to the updated planned operation data.

[0186] In some embodiments, the maximum safe operating speed calculation module 1530 is further used to:

[0187] Get the test braking speed;

[0188] When the reference adjustment speed is greater than the inspection braking speed, the real-time speed of the target mover is adjusted based on the preset safety speed and the maximum jerk of the target mover to obtain the adjusted real-time speed, and the minimum braking distance is calculated based on the adjusted real-time speed, the maximum acceleration of the target mover and the maximum jerk;

[0189] When the reference adjustment speed is not greater than the inspection braking speed, the minimum braking distance is calculated based on the reference adjustment speed, the preset safety speed and the maximum jerk.

[0190] In some embodiments, the maximum safe operating speed calculation module 1530 is further used to:

[0191] The shortest path is adjusted based on the difference between the reference adjustment speed and the preset safety speed, and the maximum acceleration;

[0192] A first speed adjustment item and a second speed adjustment item are calculated based on the adjusted shortest path, the preset safety speed, and the maximum jerk;

[0193] The adjusted real-time speed is obtained based on the cumulative sum of the first speed adjustment item, the second speed adjustment item and the preset safety speed and divided by three.

[0194] In some embodiments, the maximum safe operating speed calculation module 1530 is further used to:

[0195] Acquire the real-time speed adjustment to adjust the real-time speed in the process of adjusting the real-time speed;

[0196] Based on the ratio of the maximum acceleration to the maximum jerk, the first variable deceleration time is obtained, based on the difference between the reference adjustment speed and the preset safety speed, and divided by the maximum acceleration, and then subtracted from the first variable deceleration time, the uniform deceleration time is obtained;

[0197] A first distance term is obtained based on the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the reference adjustment speed, a second distance term is obtained based on the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the maximum jerk and the square of the first variable deceleration time, and a third distance term is obtained based on the square of the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the maximum jerk and the first variable deceleration time;

[0198] Based on the sum of the first distance item and the adjusted real-time distance, the minimum braking distance is obtained by subtracting the second distance item and the third distance item.

[0199] In some embodiments, the maximum safe operating speed calculation module 1530 is further used to:

[0200] Based on the difference between the reference adjustment speed and the preset safety speed, divided by the maximum jerk, and then squared, the second variable deceleration time is obtained;

[0201] A fourth distance term is obtained based on the product of the reference adjustment speed and the second variable deceleration time;

[0202] Based on the cube of the second variable deceleration time and multiplied by the maximum jerk, the fifth distance term is obtained;

[0203] Based on the difference between the fourth distance item and the fifth distance item, the minimum braking distance is obtained.

[0204] In some embodiments, the adjustment speed acquisition module 1520 is further used to:

[0205] The lower speed limit is adjusted based on the preset safety speed;

[0206] The upper limit of the adjustment speed is obtained based on the maximum speed of the target mover;

[0207] The reference adjustment speed is obtained based on an average value of the adjustment speed upper limit and the adjustment speed lower limit.

[0208] In some embodiments, the maximum safe operating speed calculation module 1530 is further used to:

[0209] Based on the difference between the running distance and the preset safety distance, a safety reference distance is obtained;

[0210] Based on the difference between the safety reference distance and the minimum braking distance, a safety distance difference is obtained;

[0211] The reference adjustment speed is updated based on the data relationship between the safety distance difference and the preset distance difference to obtain an updated reference adjustment speed.

[0212] In some embodiments, the maximum safe operating speed calculation module 1530 is further used to:

[0213] When the safety distance difference is a positive value and the safety distance difference is greater than the preset distance difference, the lower limit of the adjustment speed is updated based on the reference adjustment speed, and the updated reference adjustment speed is obtained based on the average of the upper limit of the adjustment speed and the updated upper limit of the adjustment speed;

[0214] When the safety distance difference is a negative value and the absolute value of the safety distance difference is greater than the preset distance difference, the adjustment speed upper limit is updated based on the reference adjustment speed, and the updated reference adjustment speed is obtained based on the average value of the adjustment speed lower limit and the updated adjustment speed upper limit.

[0215] In some embodiments, the operation data update module 1540 is further configured to:

[0216] When the maximum safe operating speed is greater than the inspection braking speed, the planned operating data is updated for the first time based on the adjustment of the real-time speed to obtain first updated planned operating data;

[0217] The first updated planned operation data is updated based on the maximum safe operation speed to obtain second updated planned operation data;

[0218] The target mover is controlled in operation according to the second updated planned operation data.

[0219] In the above embodiments, the description of each embodiment has its own emphasis. For the part that is not described in detail in a certain embodiment, the specific implementation method of the mover control device of the magnetic drive conveying system is basically the same as the specific implementation method of the mover control method of the above magnetic drive conveying system, and will not be repeated here.

[0220] In the embodiment of the present application, the mover control device of the magnetic drive conveying system is aimed at a magnetic levitation conveying track with multiple movers running. For the case where the reference adjustment speed is greater than the inspection braking speed, the corresponding adjustment shortest path when the reference adjustment speed is directly reduced to the inspection braking speed is used to determine the adjusted real-time speed of the target mover for the first adjustment, thereby preliminarily ensuring that the target mover can stop completely within the allowed distance when encountering an emergency, avoiding the collision between the target mover and the previous mover, so as to improve the operation safety of the target mover; and, for the case where the reference adjustment speed is greater than the inspection braking speed, that is, when there is a uniform deceleration, the first variable deceleration time obtained by the maximum acceleration and the maximum jerk and the uniform deceleration time obtained by the difference between the reference adjustment speed and the preset safety speed are used, and the minimum braking distance in this case is accurately calculated in combination with the adjustment of the real-time speed to the adjustment real-time speed process, so as to facilitate the subsequent use of the minimum braking distance to more accurately adjust the reference adjustment speed, so as to improve the accuracy of the calculated maximum safe operating speed; similarly, for the case where the reference adjustment speed is not greater than the inspection braking speed, that is, when there is only an acceleration and deceleration stage and a deceleration and deceleration stage, the maximum The second variable deceleration time obtained by the acceleration and the maximum jerk can accurately calculate the minimum braking distance in this case, so that the reference adjustment speed can be adjusted more accurately by using the minimum braking distance in the future, so as to improve the accuracy of the calculated maximum safe operating speed; and, based on the idea of ​​dichotomy, the safety distance difference obtained by the minimum braking distance corresponding to the reference adjustment speed is compared with the preset distance difference, so as to iteratively update the reference adjustment speed until the accuracy requirement of the safety distance difference is met, so as to obtain the maximum operating speed that the target mover can run without colliding with the previous mover, thereby improving The safety and work efficiency of the target mover in the operation of the maglev conveyor track; in addition, for the case where the maximum safe operating speed is greater than the inspection braking speed, the real-time speed of the target mover is first adjusted to the adjusted real-time speed to preliminarily ensure that the target mover can stop completely within the allowed distance in an emergency, avoiding the collision between the target mover and the previous mover; and then further update and adjust the preliminary adjusted operation planning data of the target mover according to the maximum safe operating speed, so as to avoid safety problems such as collision between two adjacent movers, thereby effectively improving the safety of the mover in the magnetic drive conveying system in the operation of the maglev conveyor track.

[0221] The present application also provides an electronic device, including:

[0222] at least one memory;

[0223] at least one processor;

[0224] at least one program;

[0225] The program is stored in the memory, and the processor executes the at least one program to implement the mover control method of the magnetic drive conveying system implemented in the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a car computer, etc.

[0226] See also Fig.16 , Fig.16 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0227] The processor 1601 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;

[0228] The memory 1602 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device or RAM (Random Access Memory). The memory 1602 can store operating systems and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1602, and the processor 1601 calls and executes the mover control method of the magnetic drive conveying system of the embodiment of this application;

[0229] Input / output interface 1603, used to implement information input and output;

[0230] The communication interface 1604 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0231] A bus 1605 that transmits information between various components of the device (e.g., the processor 1601, the memory 1602, the input / output interface 1603, and the communication interface 1604);

[0232] The processor 1601 , the memory 1602 , the input / output interface 1603 and the communication interface 1604 are connected to each other in communication within the device via the bus 1605 .

[0233] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the mover control method of the magnetic drive conveying system is implemented.

[0234] 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.

[0235] 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.

[0236] 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.

[0237] 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.

[0238] 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.

[0239] 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.

[0240] 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.

[0241] 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. 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.

[0242] 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.

[0243] 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.

[0244] 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.

[0245] 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 method for controlling a mover of a magnetic drive conveying system, characterized in that: include: Acquire the planned operation data of the target mover and the operation distance between the target mover and the previous mover; Get reference adjustment speed; The minimum braking distance of the target mover is calculated based on the reference adjustment speed, the reference adjustment speed is updated based on the distance difference between the safety reference spacing and the minimum braking distance to obtain an updated reference adjustment speed, and the updated reference adjustment speed is used as a new reference adjustment speed for minimum braking distance calculation until the distance difference does not exceed a preset distance difference, and the reference adjustment speed is used as the maximum safe operating speed, and the safety reference spacing is generated based on the operating spacing; The planned operation data of the target mover is updated based on the maximum safe operation speed, and the operation of the target mover is controlled according to the updated planned operation data.

2. The mover control method of the magnetic drive conveying system according to claim 1 is characterized in that: The step of calculating the minimum braking distance of the target mover based on the reference adjustment speed includes: Get the test braking speed; When the reference adjustment speed is greater than the inspection braking speed, the real-time speed of the target mover is adjusted based on the preset safety speed and the maximum jerk of the target mover to obtain an adjusted real-time speed, and the minimum braking distance is calculated based on the adjusted real-time speed, the maximum acceleration of the target mover and the maximum jerk; When the reference adjustment speed is not greater than the inspection braking speed, the minimum braking distance is calculated based on the reference adjustment speed, the preset safety speed and the maximum jerk.

3. The mover control method of the magnetic drive conveying system according to claim 2 is characterized in that: The step of adjusting the real-time speed of the target mover based on the preset safety speed and the maximum jerk of the target mover to obtain the adjusted real-time speed includes: Calculating an adjusted shortest path based on a difference between the reference adjustment speed and the preset safety speed, and the maximum acceleration; Calculate a first speed adjustment item and a second speed adjustment item based on the adjusted shortest path, the preset safety speed, and the maximum jerk; The adjusted real-time speed is obtained based on the cumulative sum of the first speed adjustment item, the second speed adjustment item and the preset safety speed and divided by three.

4. The mover control method of the magnetic drive conveying system according to claim 2 is characterized in that: The calculating the minimum braking distance based on the adjusted real-time speed, the maximum acceleration of the target mover and the maximum jerk includes: Acquire the adjusted real-time distance in the process of adjusting the real-time speed to the adjusted real-time speed; Based on the ratio of the maximum acceleration to the maximum jerk, a first variable deceleration time is obtained, and based on the difference between the reference adjustment speed and the preset safety speed, the difference is divided by the maximum acceleration, and then the first variable deceleration time is subtracted to obtain a uniform deceleration time; A first distance term is obtained based on the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the reference adjustment speed; a second distance term is obtained based on the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the maximum jerk and the square of the first variable deceleration time; and a third distance term is obtained based on the square of the sum of the first variable deceleration time and the uniform deceleration time, multiplied by the maximum jerk and the first variable deceleration time; The minimum braking distance is obtained by subtracting the second distance item and the third distance item from the sum of the first distance item and the adjusted real-time distance.

5. The mover control method of the magnetic drive conveying system according to claim 2, characterized in that: The calculating the minimum braking distance based on the reference adjustment speed, the preset safety speed and the maximum jerk includes: Based on the difference between the reference adjustment speed and the preset safety speed, divided by the maximum jerk, and then square rooted, a second variable deceleration time is obtained; obtaining a fourth distance term based on the product of the reference adjustment speed and the second variable deceleration time; A fifth distance term is obtained based on the cube of the second variable deceleration time and multiplied by the maximum jerk; The minimum braking distance is obtained based on the difference between the fourth distance item and the fifth distance item.

6. The mover control method of the magnetic drive conveying system according to claim 1, characterized in that: The obtaining of the reference adjustment speed comprises: The lower speed limit is adjusted based on the preset safety speed; Obtaining an upper speed limit adjustment based on the maximum speed of the target mover; The reference adjustment speed is obtained based on an average value of the adjustment speed upper limit and the adjustment speed lower limit.

7. The mover control method of the magnetic drive conveying system according to claim 6, characterized in that: The updating of the reference adjustment speed based on the distance difference between the safety reference spacing and the minimum braking distance to obtain an updated reference adjustment speed includes: Based on the difference between the running distance and the preset safety distance, the safety reference distance is obtained; Obtaining a safety distance difference based on a difference between the safety reference distance and the minimum braking distance; The reference adjustment speed is updated based on the data relationship between the safety distance difference and the preset distance difference to obtain an updated reference adjustment speed.

8. The mover control method of the magnetic drive conveying system according to claim 7, characterized in that: The updating of the reference adjustment speed based on the data relationship between the safety distance difference and the preset distance difference to obtain an updated reference adjustment speed includes: When the safety distance difference is a positive value and the safety distance difference is greater than the preset distance difference, the adjustment speed lower limit is updated based on the reference adjustment speed, and the updated reference adjustment speed is obtained based on the average value of the adjustment speed upper limit and the updated adjustment speed upper limit; When the safety distance difference is a negative value and the absolute value of the safety distance difference is greater than the preset distance difference, the adjustment speed upper limit is updated based on the reference adjustment speed, and the updated reference adjustment speed is obtained based on the average value of the adjustment speed lower limit and the updated adjustment speed upper limit.

9. The mover control method of the magnetic drive conveying system according to claim 2, characterized in that: The updating of the planned operation data of the target mover based on the maximum safe operation speed, and the operation control of the target mover according to the updated planned operation data, includes: When the maximum safe operating speed is greater than the inspection braking speed, the planned operating data is updated for the first time based on the adjusted real-time speed to obtain first updated planned operating data; The first updated planned operation data is updated based on the maximum safe operation speed to obtain second updated planned operation data; The target mover is controlled in operation according to the second updated planned operation data.

10. A mover control device for a magnetic drive conveying system, characterized in that: The device comprises: A data acquisition module, used to acquire the planned operation data of the target mover and the operation distance between the target mover and the previous mover; An adjustment speed acquisition module is used to obtain a reference adjustment speed; a maximum safe operating speed calculation module, configured to calculate a minimum braking distance of the target mover based on the reference adjustment speed, update the reference adjustment speed based on a distance difference between a safe reference spacing and the minimum braking distance, obtain an updated reference adjustment speed, and use the updated reference adjustment speed as a new reference adjustment speed for minimum braking distance calculation, until the distance difference does not exceed a preset distance difference, use the reference adjustment speed as the maximum safe operating speed, and the safe reference spacing is generated based on the operating spacing; An operation data updating module is used to update the planned operation data of the target mover based on the maximum safe operation speed, and to control the operation of the target mover according to the updated planned operation data.

11. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the mover control method of the magnetic drive conveying system according to any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the mover control method of the magnetic drive conveying system according to any one of claims 1 to 9 is implemented.

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