Rotor control method and related equipment for magnetic drive conveying system

Abstract

The rotor control method and related equipment of the magnetic drive conveying system proposed in the embodiments of the present application. The method includes: obtaining the planned operation data of the target rotor and the operation distance between the target rotor and the previous rotor; obtaining the reference adjustment speed; calculating the minimum braking distance of the target rotor based on the reference adjustment speed, updating the reference adjustment speed based on the distance difference between the safety reference distance and the minimum braking distance to obtain the updated reference adjustment speed, and using the updated reference adjustment speed as the new reference adjustment speed to calculate the minimum braking distance until the distance difference does not exceed the preset distance difference, and taking the reference adjustment speed as the maximum safe operation speed; 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, effectively improving the safety of the rotor running on the maglev conveying track in the magnetic drive conveying system.

Description

Technical Field

[0001] This application relates to the field of control technologies, and in particular, to a mover control method and related devices for a magnetic drive conveying system. Background Art

[0002] The use of magnetic levitation conveying technology to convey movers has a relatively wide application in the field of industrial automation. For example, it can be used for the assembly and packaging of items on a logistics line and SMT of precision electronic components, etc. In these applications, it is usually required that the movers run sequentially on a magnetic levitation conveying track, and the workpieces on the movers are processed during the running process. Moreover, in order to further improve the working efficiency of the processing process, appropriate running planning parameters need to be pre-divided for each mover.

[0003] In the prior art, before conveying multiple movers on a magnetic levitation conveying track, usually, appropriate running planning parameters are planned for each mover according to the initial speed, initial position, and target position of each mover, combined with the running parameters of the mover itself. However, when the processing equipment processes the workpieces on the mover, the running data of the mover will inevitably change, and it cannot accurately run according to the running curve corresponding to the original running planning parameters, resulting in safety problems such as collisions between two adjacent movers. Summary of the Invention

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

[0005] To achieve the above object, a first aspect of the embodiments of this application proposes a mover control method for a magnetic drive conveying system, and the method includes:

[0006] Obtain the planned running data of the target mover and the running distance between the target mover and the previous mover;

[0007] Obtain a reference adjustment speed;

[0008] 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 distance and the minimum braking distance to obtain an updated reference adjustment speed, and use the updated reference adjustment speed as a new reference adjustment speed to calculate the minimum braking distance until the distance difference does not exceed a preset distance difference, and use the reference adjustment speed as the maximum safe running speed, where the safety reference distance is generated based on the running distance;

[0009] Update the planned operation data of the target mover based on the maximum safe operating speed, and perform operation control on the target mover according to the updated planned operation data.

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

[0011] Obtain the inspection braking speed;

[0012] When the reference adjustment speed is greater than the inspection braking speed, adjust the real-time speed of the target mover based on the preset safe speed and the maximum jerk of the target mover to obtain the adjusted real-time speed, and calculate the minimum braking distance 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, calculate the minimum braking distance based on the reference adjustment speed, the preset safe speed, and the maximum jerk.

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

[0015] Calculate the adjusted shortest path based on the difference between the reference adjustment speed and the preset safe speed, and the maximum acceleration;

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

[0017] Obtain the adjusted real-time speed by adding the first speed adjustment term, the second speed adjustment term, and the preset safe speed, and then dividing the sum by three.

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

[0019] Obtain the adjusted real-time distance during 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, obtain the first deceleration time. Based on the difference between the reference adjustment speed and the preset safe speed, divide it by the maximum acceleration, and then subtract the first deceleration time to obtain the uniform deceleration time;

[0021] Multiply the sum of the first deceleration change time and the constant deceleration time by the reference adjustment speed to obtain a first distance term. Multiply the sum of the first deceleration change time and the constant deceleration time by the maximum jerk and the square of the first deceleration change time to obtain a second distance term. And multiply the square of the sum of the first deceleration change time and the constant deceleration time by the maximum jerk and the first deceleration change time to obtain a third distance term;

[0022] Subtract the second distance term and the third distance term from the sum of the first distance term and the adjusted real-time distance to obtain the minimum braking distance.

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

[0024] Divide the difference between the reference adjustment speed and the preset safety speed by the maximum jerk, and then perform a square root operation to obtain a second deceleration change time;

[0025] Multiply the reference adjustment speed by the second deceleration change time to obtain a fourth distance term;

[0026] Multiply the cube of the second deceleration change time by the maximum jerk to obtain a fifth distance term;

[0027] Subtract the fifth distance term from the fourth distance term to obtain the minimum braking distance.

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

[0029] Obtain a lower limit of the adjustment speed based on the preset safety speed;

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

[0031] Obtain 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.

[0032] In some embodiments, 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 includes:

[0033] Obtain the safety reference spacing based on the difference between the running spacing and the preset safety spacing;

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

[0035] 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.

[0036] In some embodiments, the 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 includes:

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

[0038] When the safety distance difference is negative and the absolute value of the safety distance difference is greater than the preset distance difference, updating the upper limit of the adjustment speed based on the reference adjustment speed, and obtaining 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.

[0039] In some embodiments, the updating the planned operation data of the target mover based on the maximum safe operating speed and controlling the operation 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, performing a first update on the planned operation data based on the adjusted real-time speed to obtain first updated planned operation data;

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

[0042] Controlling the operation of the target mover according to the second updated planned operation data.

[0043] To achieve the above object, a second aspect of the embodiments of the present application provides a mover control device for a magnetic drive conveying system, the device includes:

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

[0045] An adjustment speed acquisition module, configured to acquire a reference adjustment speed;

[0046] The maximum safe operating speed calculation module is configured 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 safety reference spacing and the minimum braking distance to obtain an updated reference adjustment speed, and perform the minimum braking distance calculation using the updated reference adjustment speed as the new reference adjustment speed until the distance difference does not exceed a preset distance difference, and then use the reference adjustment speed as the maximum safe operating speed, where the safety reference spacing is generated based on the operating spacing;

[0047] The operation data update module is configured to update the planned operation data of the target mover based on the maximum safe operating speed, and perform operation control on the target mover according to the updated planned operation data.

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

[0049] To achieve the above object, a fourth aspect of the embodiments of the present application provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the mover control method of the magnetic drive conveying system as described in the first aspect above.

[0050] The rotor control method and related equipment of the magnetic drive conveying system provided by the embodiments of the present application, the method includes: First, obtain the planned operation data of the target rotor and the operation spacing between the target rotor and the previous rotor; Then, obtain the reference adjustment speed; Next, calculate the minimum braking distance of the target rotor 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 to obtain the updated reference adjustment speed, and use the updated reference adjustment speed as the new reference adjustment speed to calculate the minimum braking distance until the distance difference does not exceed the preset distance difference, and use the reference adjustment speed as the maximum safe operation speed, and the safety reference spacing is generated based on the operation spacing; Finally, update the planned operation data of the target rotor based on the maximum safe operation speed, and perform operation control on the target rotor according to the updated planned operation data. The embodiments of the present application are directed to a maglev conveying track with multiple rotors running. The minimum braking distance of the target rotor running behind is calculated by using the reference adjustment speed, and the reference adjustment speed is iteratively updated based on the minimum braking distance until the distance difference between the safety reference spacing between two consecutive rotors and the minimum braking distance is less than the preset distance difference, so as to use the reference adjustment speed at this time as the maximum safe operation speed at which the target rotor running behind will not collide with the rotor in front in this case, and update and adjust the planned operation data of the target rotor based on the maximum safe operation speed, thereby avoiding safety problems such as collisions between adjacent rotors, and effectively improving the safety of the rotor running on the maglev conveying track in the magnetic drive conveying system.

[0051] Other features and advantages of the present application will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the specification, claims, and drawings. Brief Description of the Drawings

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

[0053] Figure 2 is a flowchart of a rotor control method of a magnetic drive conveying system provided by another embodiment of the present application.

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

[0055] Figure 4 is Figure 2 the flowchart of step 202 in

[0056] Figure 5 is Figure 2The flowchart of step 203 in

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

[0058] Figure 7 is Figure 5 the flowchart of step 502 in

[0059] Figure 8 is Figure 5 another flowchart of step 502 in

[0060] Figure 9 is another schematic diagram of the braking and deceleration stage provided by another embodiment of the present application.

[0061] Figure 10 is Figure 5 the flowchart of step 503 in

[0062] Figure 11 is Figure 2 another flowchart of step 203 in

[0063] Figure 12 is Figure 11 the flowchart of step 1103 in

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

[0065] Figure 14 is Figure 2 the flowchart of step 204 in

[0066] Figure 15 is a schematic structural diagram of the mover control device of the magnetic drive conveying system provided by an embodiment of the present application.

[0067] Figure 16 is a schematic hardware structure diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0068] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to 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 functional module division is performed in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the flowchart.

[0070] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein are for the purpose of describing embodiments of this application only and are not intended to limit this application.

[0071] The use of magnetic levitation transportation technology to transport rotors has a relatively wide range of applications in the field of industrial automation. For example, it can be used for the assembly, packaging of items on a logistics line, and SMT of precision electronic components, etc. In these applications, it is usually required that the rotors run sequentially on the magnetic levitation transportation track, and the workpieces on the rotors are processed during the running process. Moreover, in order to further improve the working efficiency of the processing process, it is necessary to pre-divide appropriate operation planning parameters for each rotor.

[0072] In the prior art, before transporting multiple rotors on a magnetic levitation transportation track, it is usually to pre-plan appropriate operation planning parameters for each rotor according to the initial speed, initial position, and target position of each rotor, and then combine the running parameters of the rotor itself. However, when the processing equipment processes the workpieces on the rotor, it will inevitably cause changes in the running data of the rotor, and it cannot accurately run according to the running curve corresponding to the original operation planning parameters, resulting in safety problems such as collisions between two adjacent rotors.

[0073] In order to improve the safety of the rotor running on the magnetic levitation transportation track in the magnetic drive transportation system, in the embodiments of this application, for a magnetic levitation transportation track with multiple rotors running, the minimum braking distance of the target rotor running later is calculated by using the reference adjustment speed, and the reference adjustment speed is iteratively updated based on the minimum braking distance until the distance difference between the safety reference distance between two consecutive rotors and the minimum braking distance is less than the preset distance difference. At this time, the reference adjustment speed is used as the maximum safe running speed at which the target rotor running later will not collide with the rotor in front in this case, and the planned running data of the target rotor is updated and adjusted based on this maximum safe running speed, so as to avoid safety problems such as collisions between two adjacent rotors, and thus effectively improve the safety of the rotor running on the magnetic levitation transportation track in the magnetic drive transportation system.

[0074] To better elaborate on the rotor control method of the magnetic drive transportation system provided in the embodiments of this application, this embodiment first describes the magnetic levitation transportation track to which the rotor control method is applied. Refer to Figure 1 As shown, it is a schematic structural diagram of a magnetic drive transportation system provided in the embodiments of this application. As Figure 1 shown, the magnetic drive transportation system includes a magnetic levitation transportation track and multiple rotors running sequentially on the magnetic levitation transportation track. During the running process of these rotors, there is processing equipment to process the workpieces carried on these rotors.

[0075] Based on the above magnetic drive conveying system, the mover control method of the magnetic drive conveying system in the embodiments of the present application will be specifically described below. Refer to Figure 2 , which is an optional flowchart of the mover control method of the magnetic drive conveying system provided by the embodiments of the present application. Figure 2 The method in Figure 2 may include but is not limited to steps 201 to 204. At the same time, it can be understood that the order of steps 201 to 204 in this embodiment is not specifically limited, and the order of steps can be adjusted according to actual needs, or some steps can be reduced or added. The mover control method of the magnetic drive conveying system provided by the embodiments of the present application can be applied to intelligent terminals, servers, computers, etc. connected to the maglev conveying track.

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

[0077] The following will describe step 201 in detail.

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

[0079] Among them, the pre-obtained planned operation data can be a conventional three-stage operation data plan or a seven-stage operation data plan.

[0080] Refer to Figure 3 , which is a curve schematic diagram of a kind of planned operation data provided by the embodiments of the present application. As Figure 3 shown in

[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] The following is a detailed description of Step 202.

[0090] In some embodiments, after obtaining the real-time operation data of the target mover, the minimum braking distance of the target mover when braking under the current real-time operation data will be further calculated according to the target mover and the fixed parameters of the mover.

[0091] Among them, the fixed parameters refer to the maximum acceleration a dm , the maximum jerk j dm and the preset braking time t ds . It can be understood that the fixed parameters of each mover can be the same or different for different movers. The following will further describe in detail how to obtain the minimum braking distance of the target mover.

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

[0093] The following is a detailed description of Step 202.

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

[0095] Referring to Figure 4 , obtaining the reference adjustment speed includes the following steps 401 to 403.

[0096] Step 401: Obtain the lower limit of the adjustment speed based on the preset safe speed.

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

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

[0099] The following is a detailed description of Steps 401 to 403.

[0100] In some embodiments, first determine the preset safe speed v e , and this preset safe speed v e is a very low safe speed value determined based on the working parameters of the target mover, which can be understood as the target mover moving at the 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, the real-time speed of the target mover is adjusted based on the preset safe 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 the adjusted shortest path based on the difference between the reference adjustment speed and the preset safe speed, and the maximum acceleration.

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

[0114] Step 703: Obtain the adjusted real-time speed by summing up the first speed adjustment term, the second speed adjustment term, and the preset safe speed, and then dividing by three.

[0115] The following is a detailed description of steps 701 to 703.

[0116] In some embodiments, for the case where the reference adjustment speed v m is greater than the inspection braking speed v check , to ensure the safety of the target mover during actual operation, first, based on the difference v m between the reference adjustment speed v e of the target mover and the preset safe speed v s -v e , and then calculate with the maximum acceleration a dm to directly obtain the adjusted shortest path S m corresponding to directly reducing from the reference adjustment speed v check to the inspection braking speed v dec_min . Then, combined with Shengjin's formula, the adjusted real-time speed v s' is obtained. Specifically, the first speed adjustment term Y1 and the second speed adjustment term Y2 are calculated based on the adjusted shortest path S dec_min , the preset safe speed v e , and the maximum jerk j dm as shown in the following formula (2).

[0117]

[0118] After that, based on the cube root of the first speed adjustment term Y1, the cube root of the second speed adjustment term Y2, and the sum of the preset safe speed, divide by three, and then take the negative value to obtain the adjusted real-time speed v s for adjusting the initial 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 inspection braking speed, the adjustment real-time speed for the first adjustment of the real-time speed of the target mover is determined by using the shortest adjustment path corresponding to directly reducing the reference adjustment speed to the inspection braking speed, so as to preliminarily ensure that the target mover can completely stop within the allowed distance in case of an emergency, avoid collision between the target mover and the previous mover, and improve the running safety of the target mover.

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

[0122] Step 801: Obtain the adjustment real-time distance during the process of adjusting the real-time speed to the adjustment real-time speed.

[0123] Step 802: Based on the ratio of the maximum acceleration and the maximum jerk, obtain the first deceleration time. Based on the difference between the reference adjustment speed and the preset safety speed, divide it by the maximum acceleration, and then subtract the first deceleration time to obtain the uniform deceleration time.

[0124] Step 803: Based on the sum of the first deceleration time and the uniform deceleration time, multiply it by the reference adjustment speed to obtain the first distance term. Based on the sum of the first deceleration time and the uniform deceleration time, multiply it by the maximum jerk and the square of the first deceleration time to obtain the second distance term. And based on the square of the sum of the first deceleration time and the uniform deceleration time, multiply it by the maximum jerk and the first deceleration time to obtain the third distance term.

[0125] Step 804: Based on the sum of the first distance term and the adjustment real-time distance, subtract the second distance term and the third distance term to obtain the minimum braking distance.

[0126] The following is a detailed description of steps 801 to 804.

[0127] In some embodiments, for the case where the reference adjustment speed v m is greater than the inspection braking speed v check , that is, v m > v check , first obtain the real-time speed v s and adjust it to the adjustment real-time speed v dm at the maximum acceleration a s' . The corresponding adjustment real-time distance S t is 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 to obtain the first deceleration time t1 = a m corresponding to the acceleration and deceleration phases and the deceleration and deceleration phases during the process of the target mover decreasing from the reference adjustment speed v e to the preset safe speed v dm / j dm ; afterwards, based on the difference between the reference adjustment speed v m and the preset safe speed v e , and dividing by the maximum acceleration a dm , and then subtracting the first deceleration time t1, to obtain the constant deceleration time t2 = (v m -v e ) / a m -t1 corresponding to the constant deceleration phase during the process of the target mover decreasing from the reference adjustment speed v e to the preset safe speed v dm .

[0130] Furthermore, based on the sum of twice the number of the first deceleration time t1 and the constant deceleration time t2, and then multiplying by the reference adjustment speed v m , to obtain the first distance term v m (2t1 + t2); at the same time, based on the sum of the first deceleration time t1 and the constant deceleration time t2, and then multiplying by the maximum jerk j dm and the square of the first deceleration time t1 2 , and multiplying by one half, to obtain the second distance term j dm t1 2 (t2 + t1) / 2; and, based on the square of the sum of the first deceleration time t1 and the constant deceleration time t2, and then multiplying by the maximum jerk j dm and the first deceleration time t1, and multiplying by one half, to obtain the third distance term j dm t1(t2 + t1) 2 / 2.

[0131] Finally, based on the sum of the first distance term v m (2t1 + t2) and the adjusted real-time distance S t , and then subtracting the second distance term j dm t1 2 (t2 + t1) / 2 and the third distance term j dm t1(t2 + t1) 2 / 2 to obtain the minimum braking distance BrakDis when the reference adjustment speed v m is greater than the inspection braking speed v check 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 inspection braking speed, that is, in the case of a uniform deceleration speed, using the first deceleration time obtained from the maximum acceleration and the maximum jerk and the uniform deceleration time obtained from the difference between the reference adjustment speed and the preset safety speed, and further combining the real-time speed to accurately calculate the minimum braking distance in this case during the process of adjusting the real-time speed to the adjusted real-time speed, so as to facilitate subsequent use of this minimum braking distance to more accurately adjust the reference adjustment speed and 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, calculate the minimum braking distance based on the reference adjustment speed, the preset safety speed, and the maximum jerk.

[0135] The following details step 503.

[0136] When the reference adjustment speed v m is not greater than the inspection braking speed v check , it indicates that the reference adjustment speed v m is relatively small, and this reference adjustment speed v m can be reduced to the preset safety speed v e through the acceleration phase and the deceleration phase. Refer to Figure 9 , which is another schematic diagram of the braking and deceleration phase provided by the embodiment of the present application. As shown in Figure 9 , it shows the acceleration curve during the process of the target mover reducing from the reference adjustment speed v m not greater than the inspection braking speed v check to the preset safety speed v m , which only includes the acceleration and deceleration curve and the deceleration and deceleration curve. e

[0137] The following will further describe how to calculate the minimum braking distance when the reference adjustment speed v m is not greater than the inspection braking speed v check .

[0138] Refer to Figure 10 , calculating the minimum braking distance based on the reference adjustment speed, the preset safety speed, and the maximum jerk includes the following steps 1001 to 1004.

[0139] Step 1001: Based on the difference between the reference adjustment speed and the preset safety speed, divide by the maximum jerk, and then perform a square root operation to obtain the second deceleration time.

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

[0141] Step 1003: Obtain a fifth distance term based on the cube of the second deceleration time and multiply it by the maximum jerk.

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

[0143] The following provides a detailed description of Steps 1001 to 1004.

[0144] In some embodiments, for the case where the reference adjustment speed v m is not greater than the inspection braking speed v ch ec k that is, v m ≤v check First, based on the difference between the reference adjustment speed v m and the preset safe speed v e and divide it by the maximum jerk j dm , then perform a square root operation to obtain the second deceleration time m corresponding to the acceleration and deceleration phases and the deceleration and deceleration phases during the process of the target mover decelerating from the reference adjustment speed v e to the preset safe speed v

[0145] Furthermore, based on the product of the reference adjustment speed v m and twice the number of the second deceleration times t3, obtain the fourth distance term v m 2t3, and based on the cube of the second deceleration time t1 3 , and multiply it by the maximum jerk j dm , obtain the fifth distance term j dm t3 3 .

[0146] After that, based on the difference between the fourth distance term and the fifth distance term, obtain the minimum braking distance BrakDis in the case where the reference adjustment speed v m is not greater than the inspection braking speed v check 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 inspection braking speed, that is, in the case of only the acceleration and deceleration stages and the deceleration-deceleration stage, the second deceleration time obtained from the maximum acceleration and the maximum jerk is used to accurately calculate the minimum braking distance in this case, so as to facilitate subsequent more accurate adjustment of the reference adjustment speed using this minimum braking distance, in order to improve the accuracy of the calculated maximum safe operating speed.

[0149] After obtaining the minimum braking distance BrakDis of the target mover for the reference adjustment speed v m in this case, the reference adjustment speed will be iteratively updated based on the distance difference between the safety reference spacing and the minimum braking distance to obtain an appropriate maximum safe operating speed, which is described in detail as follows.

[0150] Refer to Figure 11 , and update 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 the following steps 1101 to 1103.

[0151] Step 1101: Obtain the safety reference spacing based on the difference between the running spacing and the preset safety spacing.

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

[0153] Step 1103: Update 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] The following will describe steps 1101 to 1103 in detail.

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

[0156] Then, based on the safety reference spacing xall The difference from the minimum braking distance BrakDis to obtain the safety distance difference x all -BrakDis. Next, based on the safety distance difference x all -BrakDis and the data relationship of the preset distance difference δ for the reference adjustment speed v m Perform iterative update to obtain the updated reference adjustment speed v m '. Wherein, the preset distance difference δ is a preset value for aborting the bisection iteration process, and it is a very small constant value.

[0157] Next, how to update the reference adjustment speed will be further described.

[0158] Referring to Figure 12 , based on the data relationship between the safety distance difference and the preset distance difference, update the reference adjustment speed to obtain the updated reference adjustment speed, including the following steps 1201 to step 1202.

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

[0161] Next, steps 1201 to 1202 will be described in detail.

[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 indicates that the reference adjustment speed v corresponding to the current minimum braking distance BrakDis m is not appropriate and needs to be adjusted.

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

[0164] In contrast, 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, it indicates that the reference adjustment speed v corresponding to the current minimum braking distance BrakDis m is too large and needs to be adjusted. For this situation, based on the reference adjustment speed v at this time m the adjusted speed upper limit is updated, that is, v m,2 = v m and an updated reference adjustment speed v is obtained based on the average value of the adjusted speed upper limit and the updated adjusted speed upper limit, that is, v m ' = (v m,1 + v m,2 ) / 2.

[0165] After obtaining the updated reference adjustment speed v m ', the updated reference adjustment speed v m ' is used as the new reference adjustment speed v 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, and the reference adjustment speed v at this time m is used as the maximum safe operating speed MaxSafeVel most suitable for the current target mover.

[0166] Through the above steps 1101 to step 1103, and steps 1201 to step 1202, based on the idea of the dichotomy method, the safety distance difference obtained from the minimum braking distance corresponding to the reference adjustment speed is compared with the preset distance difference, and the reference adjustment speed is iteratively updated 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 operate without colliding with the previous mover, thereby improving the safety and working efficiency of the target mover operating on the maglev conveying track.

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

[0168] The following is a detailed description of step 204.

[0169] In some embodiments, after obtaining the maximum safe operating speed MaxSafeVel of the target mover, the planned operating data of the target mover is updated based on the maximum safe operating speed MaxSafeVel, and the target mover is controlled to operate according to the updated planned operating data, so as to ensure the safety of the target mover when operating on the maglev conveying track.

[0170] Refer to Figure 13 , which is a schematic curve diagram for updating planned operating data provided by an embodiment of the present application. As Figure 13 shown in, it shows that for a certain mover, based on the original planned operating data, real-time safety detection is performed on the mover (that is, the maximum safe operating speed corresponding to the current situation of the mover 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 a three-stage manner to reduce the operating speed of the mover to the maximum safe operating speed, and then the adjusted operating data is planned in a seven-stage manner again to obtain the updated seven-stage planned operating data and perform operating control.

[0171] In addition, for the case where the maximum safe operating speed MaxSafeVel that needs to be adjusted is too large, that is, there is a situation where the maximum safe operating speed is greater than the inspection braking speed, in combination with the description of step 502 above, it is also necessary to perform secondary planning on the operating planning data of the target mover, which is described in detail as follows.

[0172] Refer to Figure 14 , updating the planned operating data of the target mover based on the maximum safe operating speed, and controlling the target mover to operate according to the updated planned operating 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 first updated based on the adjusted real-time speed to obtain the first updated planned operating data.

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

[0175] Step 1403: Control the target mover to operate according to the second updated planned operating data.

[0176] The following describes steps 1401 to 1403 in detail.

[0177] In some embodiments, for the maximum safe operating speed MaxSafeVel greater than the inspection braking speed v checkIn the case described in step 502 above, to ensure the safety of the target mover during actual operation, it is necessary to first based on the maximum safe operating speed MaxSafeVel (i.e., the reference adjustment speed v in the last iteration process) m ) corresponding to the adjusted real-time speed v s' (i.e., formula (3)) to perform the first update on the planned operation data (i.e., first adjust the real-time speed v s to the adjusted real-time speed v s' ), obtain the first updated planned operation data after adjustment, then update the first updated planned operation data based on the maximum safe operating speed MaxSafeVel to obtain the second updated planned operation data, and perform operation control on 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, first adjust the real-time speed of the target mover to the adjusted real-time speed to initially ensure that the target mover can come to a complete stop within the allowed distance in case of an emergency, avoiding a collision between the target mover and the previous mover; then further update and adjust the initially adjusted operation planning data of the target mover according to the maximum safe operating speed, thereby greatly improving the operating safety of the target mover.

[0179] The rotor control method and related equipment of the magnetic drive conveying system proposed by the embodiments of the present application, the method includes: First, obtain the planned operation data of the target rotor and the operation spacing between the target rotor and the previous rotor; Then, obtain the lower limit of the adjustment speed based on the preset safety speed, obtain the upper limit of the adjustment speed based on the maximum speed of the target rotor, and obtain the reference adjustment speed based on the average value of the upper limit 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, based on the difference between the reference adjustment speed and the preset safety speed, and the maximum acceleration, calculate the adjusted shortest path. Based on the adjusted shortest path, the preset safety speed, and the maximum jerk, calculate the first speed adjustment term and the second speed adjustment term. Based on the cumulative sum of the first speed adjustment term, the second speed adjustment term, and the preset safety speed, and divide by three to obtain the adjusted real-time speed. Obtain the adjusted real-time distance during 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, obtain the first deceleration time. Based on the difference between the reference adjustment speed and the preset safety speed, divide by the maximum acceleration, and then subtract the first deceleration time to obtain the uniform deceleration time. Based on the sum of the first deceleration time and the uniform deceleration time, multiply by the reference adjustment speed to obtain the first distance term. Based on the sum of the first deceleration time and the uniform deceleration time, multiply by the maximum jerk and the square of the first deceleration time to obtain the second distance term. Based on the square of the sum of the first deceleration time and the uniform deceleration time, multiply by the maximum jerk and the first deceleration time to obtain the third distance term. Based on the sum of the first distance term and the adjusted real-time distance, subtract 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, divide by the maximum jerk, and then perform a square root operation to obtain the second deceleration time. Based on the product of the reference adjustment speed and the second deceleration time, obtain the fourth distance term. Based on the cube of the second deceleration time, multiply by the maximum jerk to obtain the fifth distance term. Based on the difference between the fourth distance term and the fifth distance term, obtain the minimum braking distance. Then, based on the difference between the running spacing and the preset safety spacing, obtain the safety reference spacing. Based on the difference between the safety reference spacing and the minimum braking distance, obtain the safety distance difference. When the safety distance difference is positive and the absolute value of the safety distance difference is greater than the preset distance difference, update the lower limit of the adjustment speed based on the reference adjustment speed, and obtain the updated reference adjustment speed based on the average value of the upper limit of the adjustment speed and the updated upper limit of the adjustment speed. When the safety distance difference is negative and the absolute value of the safety distance difference is greater than the preset distance difference, update the upper limit of the adjustment speed based on the reference adjustment speed, and obtain 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. Use the updated reference adjustment speed as the new reference adjustment speed to calculate the minimum braking distance until the distance difference does not exceed the preset distance difference. Use the reference adjustment speed as the maximum safe operating speed, and the safety reference spacing is generated based on the running spacing. Finally, when the maximum safe operating speed is greater than the inspection braking speed, perform the first update on the planned operation data based on the adjusted real-time speed to obtain the first updated planned operation data. Update the first updated planned operation data based on the maximum safe operating speed to obtain the second updated planned operation data. Control the operation of the target mover according to the second updated planned operation data.

[0180] In the embodiment of the present application, for a maglev conveying track on which multiple movers are running, when the reference adjustment speed is greater than the inspection braking speed, the adjustment real-time speed for the first adjustment of the real-time speed of the target mover is determined by using the shortest adjustment path corresponding to the direct reduction of the reference adjustment speed to the inspection braking speed, so as to preliminarily ensure that the target mover can completely stop within the allowed distance in case of an emergency, avoid collision between the target mover and the previous mover, and improve the running safety of the target mover; and, for the case where the reference adjustment speed is greater than the inspection braking speed, that is, in the case of a uniform deceleration speed, the first variable deceleration time obtained from the maximum acceleration and the maximum jerk and the uniform deceleration time obtained from the difference between the reference adjustment speed and the preset safety speed are used, and further combined with the adjustment real-time distance during the adjustment of the real-time speed to the adjustment real-time speed, the minimum braking distance in this case is accurately calculated, so as to facilitate the subsequent more accurate adjustment of the reference adjustment speed by using the minimum braking distance, and improve the accuracy of the calculated maximum safe running speed; similarly, for the case where the reference adjustment speed is not greater than the inspection braking speed, that is, in the case of only the acceleration and deceleration stages and the jerk deceleration stage, the second variable deceleration time obtained from 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 more accurate adjustment of the reference adjustment speed by using the minimum braking distance, and improve the accuracy of the calculated maximum safe running speed; and, based on the idea of the dichotomy method, the safety distance difference obtained from the minimum braking distance corresponding to the reference adjustment speed is compared with the preset distance difference to iteratively update the reference adjustment speed until the accuracy requirement of the safety distance difference is met, so as to obtain the maximum running speed that the target mover can run without colliding with the previous mover, thereby improving the running safety and working efficiency of the target mover on the maglev conveying track; in addition, for the case where the maximum safe running speed is greater than the inspection braking speed, first, the real-time speed of the target mover is adjusted to the adjustment real-time speed to preliminarily ensure that the target mover can completely stop within the allowed distance in case of an emergency, avoid collision between the target mover and the previous mover; and then, the running planning data of the target mover after the preliminary adjustment is updated and adjusted according to the maximum safe running speed, so as to avoid safety problems such as collision between two adjacent movers, and further effectively improve the running safety of the mover on the maglev conveying track in the magnetic drive conveying system.

[0181] The embodiment of the present application further provides a mover control device for a magnetic drive conveying system, which can implement the mover control method of the magnetic drive conveying system, referring to Figure 15 , the device 1500 includes:

[0182] The data acquisition module 1510 is configured to acquire the planned operation data of the target mover and the operation spacing between the target mover and the previous mover.

[0183] The adjustment speed acquisition module 1520 is configured to acquire the reference adjustment speed.

[0184] The maximum safe operating speed calculation module 1530 is configured 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 to obtain the updated reference adjustment speed, and use the updated reference adjustment speed as the new reference adjustment speed to calculate the minimum braking distance 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 update module 1540 is configured to update the planned operation data of the target mover based on the maximum safe operating 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 configured to:

[0187] Acquire the inspection braking speed.

[0188] When the reference adjustment speed is greater than the inspection braking speed, adjust the real-time speed of the target mover based on the preset safe speed and the maximum jerk of the target mover to obtain the adjusted real-time speed, and calculate the minimum braking distance 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, calculate the minimum braking distance based on the reference adjustment speed, the preset safe speed, and the maximum jerk.

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

[0191] Calculate the adjusted shortest path based on the difference between the reference adjustment speed and the preset safe speed, and the maximum acceleration.

[0192] Calculate the first speed adjustment term and the second speed adjustment term based on the adjusted shortest path, the preset safe speed, and the maximum jerk.

[0193] Obtain the adjusted real-time speed by adding up the first speed adjustment term, the second speed adjustment term, and the preset safe speed and dividing by three.

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

[0195] Obtain the real-time speed and adjust the real-time distance during the process of adjusting the real-time speed;

[0196] Based on the ratio of the maximum acceleration and the maximum jerk, obtain the first deceleration time. Based on the difference between the reference adjustment speed and the preset safety speed, divide it by the maximum acceleration, and then subtract the first deceleration time to obtain the uniform deceleration time;

[0197] Based on the sum of the first deceleration time and the uniform deceleration time, multiply it by the reference adjustment speed to obtain the first distance term. Based on the sum of the first deceleration time and the uniform deceleration time, multiply it by the maximum jerk and the square of the first deceleration time to obtain the second distance term, and based on the square of the sum of the first deceleration time and the uniform deceleration time, multiply it by the maximum jerk and the first deceleration time to obtain the third distance term;

[0198] Based on the sum of the first distance term and the adjusted real-time distance, subtract the second distance term and the third distance term to obtain the minimum braking distance.

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

[0200] Based on the difference between the reference adjustment speed and the preset safety speed, divide it by the maximum jerk, and then perform a square root operation to obtain the second deceleration time;

[0201] Based on the product of the reference adjustment speed and the second deceleration time, obtain the fourth distance term;

[0202] Based on the cube of the second deceleration time, multiply it by the maximum jerk to obtain the fifth distance term;

[0203] Based on the difference between the fourth distance term and the fifth distance term, obtain the minimum braking distance.

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

[0205] Based on the preset safety speed, obtain the lower limit of the adjustment speed;

[0206] Based on the maximum speed of the target mover, obtain the upper limit of the adjustment speed;

[0207] Based on the average value of the upper limit of the adjustment speed and the lower limit of the adjustment speed, obtain the reference adjustment speed.

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

[0209] Based on the difference between the running spacing and the preset safety spacing, obtain the safety reference spacing;

[0210] Obtain a safety distance difference based on the difference between the safety reference spacing and the minimum braking distance;

[0211] Update 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.

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

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

[0214] When the safety distance difference is negative and the absolute value of the safety distance difference is greater than the preset distance difference, update the upper limit of the adjustment speed based on the reference adjustment speed, and obtain 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.

[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, perform a first update on the planned operation data based on the adjusted real-time speed to obtain first updated planned operation data;

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

[0218] Control the operation of the target mover according to the second updated planned operation data.

[0219] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, the specific implementation manners of the mover control device of the magnetic drive conveying system are basically the same as the specific implementation manners of the above-mentioned mover control method of the magnetic drive conveying system, and will not be elaborated here.

[0220] In the embodiment of the present application, for the mover control device of the magnetic drive conveying system on the maglev conveying track with multiple movers running, when the reference adjustment speed is greater than the inspection braking speed, the adjustment real-time speed for the first adjustment of the real-time speed of the target mover is determined by using the shortest adjustment path corresponding to the direct reduction of the reference adjustment speed to the inspection braking speed, so as to preliminarily ensure that the target mover can completely stop within the allowed distance in case of an emergency, avoid collision between the target mover and the previous mover, and improve the running safety of the target mover; and, for the case where the reference adjustment speed is greater than the inspection braking speed, that is, in the case of a uniform deceleration speed, the first variable deceleration time obtained from the maximum acceleration and the maximum jerk and the uniform deceleration time obtained from the difference between the reference adjustment speed and the preset safety speed are used to further accurately calculate the minimum braking distance in this case by combining the adjustment real-time distance during the adjustment of the real-time speed to the adjustment real-time speed, so as to facilitate the subsequent more accurate adjustment of the reference adjustment speed by using this minimum braking distance to improve the accuracy of the calculated maximum safe running speed; similarly, for the case where the reference adjustment speed is not greater than the inspection braking speed, that is, in the case of only the acceleration and deceleration stages and the jerk deceleration stage, the second variable deceleration time obtained from 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 more accurate adjustment of the reference adjustment speed by using this minimum braking distance to improve the accuracy of the calculated maximum safe running speed; and, based on the idea of the dichotomy method, the safety distance difference obtained from the minimum braking distance corresponding to the reference adjustment speed is compared with the preset distance difference to iteratively update the reference adjustment speed until the accuracy requirement of the safety distance difference is met, so as to obtain the maximum running speed that the target mover can run without colliding with the previous mover, thereby improving the running safety and working efficiency of the target mover on the maglev conveying track; in addition, for the case where the maximum safe running speed is greater than the inspection braking speed, first, the real-time speed of the target mover is adjusted to the adjustment real-time speed to preliminarily ensure that the target mover can completely stop within the allowed distance in case of an emergency, avoid collision between the target mover and the previous mover; then, the running planning data of the target mover after preliminary adjustment is further updated and adjusted according to the maximum safe running speed, so as to avoid safety problems such as collision between two adjacent movers, and thus effectively improve the running safety of the mover on the maglev conveying track in the magnetic drive conveying system.

[0221] The embodiment of 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 a memory, and a processor executes the at least one program to implement the mover control method of the magnetic drive conveying system described above in the present application. The electronic device may be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA for short), an in-vehicle computer, etc.

[0226] Please refer to Figure 16 , Figure 16 which shows the hardware structure of an electronic device according to another embodiment. The electronic device includes:

[0227] A processor 1601, which can be implemented by using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0228] A memory 1602, which can be implemented in the form of a ROM (Read Only Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory), etc. The memory 1602 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1602 and are called by the processor 1601 to execute the mover control method of the magnetic drive conveying system in the embodiments of the present application;

[0229] An input / output interface 1603, which is used to implement information input and output;

[0230] A communication interface 1604, which is used to implement communication interaction between this device and other devices, and can implement communication through a wired method (such as USB, network cable, etc.) or through a wireless method (such as a mobile network, WIFI, Bluetooth, etc.);

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

[0232] Among them, the processor 1601, the memory 1602, the input / output interface 1603, and the communication interface 1604 are communicatively connected to each other inside the device through the bus 1605.

[0233] An embodiment of the present application also provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the mover control method of the above-mentioned magnetic drive conveying system.

[0234] As a non-transitory computer-readable storage medium, a memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely provided with respect to the processor, and these remote memories can be connected to the processor through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0235] The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art will know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0236] Those skilled in the art can understand 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 those shown in the figures, or combine some steps, or different steps.

[0237] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0238] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, and appropriate combinations thereof.

[0239] In the description of the present application and the above-mentioned accompanying drawings, the terms "first", "second", "third", "fourth", etc. (if any) 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 interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units 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 "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expression means any combination of these items, including any combination of single item (one) or plural items (ones). For example, at least one (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 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 merely illustrative. For example, the above-mentioned division of units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in 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 can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0243] In addition, in each embodiment of the present application, each functional unit can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[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, in essence, 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. The computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present application. The foregoing storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0245] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings, which does not limit the scope of rights of the embodiments of the present application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall fall within the scope of rights of the embodiments 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 safe 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 safe reference spacing is generated based on the operating spacing; 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; 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.

2. The mover control method of the magnetic drive conveying system according to claim 1 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.

3. The mover control method of the magnetic drive conveying system according to claim 1 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.

4. The mover control method of the magnetic drive conveying system according to claim 1, 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.

5. 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.

6. The mover control method of the magnetic drive conveying system according to claim 5, 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.

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 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.

8. The mover control method of the magnetic drive conveying system according to claim 1, 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.

9. 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, used for 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; 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.

10. 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 8 is implemented.

11. 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 8 is implemented.

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