Mover motion planning method and device, electronic equipment, readable storage medium and program product

Abstract

The invention relates to a rotor motion planning method and device, computer equipment, a readable storage medium and a program product. A dragging event triggered by a simulation environment based on a target magnetic drive conveying line is obtained, exponential smoothing processing is carried out on a dragging speed sequence, a smooth speed curve is obtained, and a target motion planning curve of a target rotor is generated based on an initial motion planning curve and the smooth speed curve of the target rotor. The smooth speed curve is a speed planning curve of the target rotor between the dragging starting node position and the dragging ending node position determined through a simulation environment based on a planning requirement, namely, the smooth speed curve is obtained through a dragging teaching mode, so that the smooth speed curve can be obtained through the dragging teaching mode; compared with a traditional mode of designing or modifying the motion trail of the mover depending on code writing, the mode of the invention is simpler to operate, higher in implementation flexibility and capable of improving the processing efficiency.

Description

Technical Field

[0001] The present application relates to the field of magnetic drive conveying technology, and in particular to a mover motion planning method, device, electronic equipment, readable storage medium and program product. Background Art

[0002] The magnetic drive conveyor line is a conveying system based on magnetic levitation, which uses magnetic force to drive the mover to transport along a preset motion trajectory. This transmission method has the advantages of high efficiency and precision, and is widely used in the field of mechanical manufacturing.

[0003] In traditional technology, the movement trajectory of the mover on the magnetic drive conveyor line needs to strictly follow the preset process flow, and the process operation of each station corresponding to the process flow is realized by writing PLC (programmable logic controller) or other control system code. Assigning tasks to the mover, controlling the time it stays at each station, the operations performed and the order of arrival all rely on detailed code writing and settings. However, when user needs change, the code needs to be rewritten to control the movement of the mover, which is not only time-consuming and labor-intensive, but also affects efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a mover motion planning method, device, computer equipment, computer readable storage medium and computer program product that can improve efficiency in response to the above technical problems.

[0005] In a first aspect, the present application provides a mover motion planning method, comprising:

[0006] Acquire a drag event triggered by a simulation environment based on a target magnetic drive conveyor line, wherein the drag event includes a drag speed sequence from a drag start node position to a drag end node position;

[0007] Performing exponential smoothing on the dragging speed sequence to obtain a smooth speed curve;

[0008] Based on the initial motion planning curve of the target mover and the smooth speed curve, a target motion planning curve of the target mover is generated.

[0009] In one of the embodiments, the target motion planning curve of the target mover is generated based on the initial motion planning curve of the target mover and the smooth speed curve, including: according to the drag start node position and the drag end node position, the initial motion planning curve and the smooth speed curve are superimposed to obtain the target motion planning curve of the target mover.

[0010] In one of the embodiments, the initial motion planning curve and the smooth speed curve are superimposed according to the drag start node position and the drag end node position to obtain the target motion planning curve of the target mover, including: determining the initial speed curve of the corresponding path in the initial motion planning curve according to the drag start node position and the drag end node position; superimposing the initial speed curve and the smooth speed curve to obtain a superimposed speed curve, and determining the superimposed speed curve as the target motion planning curve of the target mover based on the path.

[0011] In one of the embodiments, performing exponential smoothing on the drag speed sequence to obtain a smooth speed curve includes: performing exponential smoothing on each drag speed in the drag speed sequence to obtain a smoothed speed after smoothing each drag speed; and generating the smooth speed curve according to the smoothed speed corresponding to each drag speed in the drag speed sequence.

[0012] In one of the embodiments, the drag event also includes a drag acceleration sequence based on the drag start node position to the drag end node position; after obtaining the drag event triggered by the simulation environment based on the target magnetic drive conveyor line, the method also includes: performing exponential smoothing on each drag acceleration in the drag acceleration sequence to obtain a smoothed acceleration after smoothing each drag acceleration; generating an extended acceleration of the smoothed acceleration according to the smoothed acceleration corresponding to each drag acceleration; generating an extended speed of the smoothed speed according to the smoothed speed corresponding to each drag speed; generating a corresponding extended speed curve based on the extended speed, and generating a corresponding extended acceleration curve based on the extended acceleration.

[0013] In one of the embodiments, after generating the target motion planning curve of the target mover, the method further comprises: upon receiving an update instruction for the target motion planning curve, updating the target motion planning curve according to the extended speed curve.

[0014] In a second aspect, the present application provides a mover motion planning device, the device comprising:

[0015] A drag event acquisition module, used to acquire a drag event triggered by a simulation environment based on a target magnetic drive conveyor line, wherein the drag event includes a drag speed sequence from a drag start node position to a drag end node position;

[0016] A smoothing processing module, used for performing exponential smoothing on the dragging speed sequence to obtain a smooth speed curve;

[0017] The motion planning module is used to generate a target motion planning curve of the target mover based on the initial motion planning curve of the target mover and the smooth speed curve.

[0018] In a third aspect, the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0019] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0020] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements the steps of the above method when executed by a processor.

[0021] The above-mentioned mover motion planning method, device, computer equipment, computer-readable storage medium and computer program product obtain a drag event triggered by a simulation environment based on the target magnetic drive conveyor line, and perform exponential smoothing on the drag speed sequence to obtain a smooth speed curve, and generate a target motion planning curve of the target mover based on the initial motion planning curve and the smooth speed curve of the target mover. Since the smooth speed curve is a speed planning curve of the target mover between the drag start node position and the drag end node position determined by the simulation environment based on planning requirements, that is, the smooth speed curve is obtained by dragging and teaching, therefore, compared with the traditional method of relying on code writing to design or modify the mover motion trajectory, the method of the present application is simpler to operate, more flexible to implement, and can improve processing efficiency. In addition, since the smooth speed curve is obtained after exponential smoothing of the drag speed sequence, the target motion planning curve of the target mover is generated based on this, which can ensure the stability and accuracy of the target mover during the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments of the present application or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of a flow chart of a method for planning a mover motion in one embodiment;

[0024] Figure 2 A schematic diagram of a smoothing process in one embodiment;

[0025] Figure 3 A schematic diagram of curve superposition in an embodiment;

[0026] Figure 4 A schematic flow chart of a speed expansion step in one embodiment;

[0027] Figure 5 is a structural block diagram of a mover motion planning device in one embodiment;

[0028] Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] In traditional technology, the motion trajectory of the mover on the magnetic drive conveyor line depends on detailed code writing and settings, and when user needs change, it is necessary to rewrite the code to control the movement of the mover, which is not only time-consuming and labor-intensive, but also affects efficiency. Especially for some magnetic drive conveyor lines with more complex structures, such as three-dimensional transmission lines with vertical lifting functions, if the traditional method of designing the motion trajectory of the mover by writing code is adopted, it requires a huge amount of calculation, which requires a lot of time and energy to write and debug the code, which is not only inflexible, but also prone to errors. Therefore, the traditional method of motion planning for the mover has certain limitations in terms of flexibility, efficiency and operability.

[0031] Based on this, the embodiment of the present application provides a method for planning the motion of a mover, so as to flexibly and efficiently configure the path and motion process of the mover on the magnetic drive conveyor line. Figure 1 As shown, the method comprises the following steps:

[0032] Step 102, obtaining a drag event triggered by a simulation environment based on the target magnetic drive conveyor line.

[0033] The simulation environment refers to the working environment of a certain system or device in reality, which is simulated by software simulation, so as to perform testing, verification and optimization. In this embodiment, the simulation environment is the working environment of a specific magnetic drive conveyor line (i.e., the target magnetic drive conveyor line) in reality, which is simulated in the upper computer by software simulation. The specific simulation content may include the line length, shape, number and position of movers, and number and position of workstations of the target magnetic drive conveyor line.

[0034] A drag event may be an action event triggered by a user's drag operation in a simulation environment. Specifically, the drag operation may be a point-to-point event monitoring. When it is necessary to plan the path or movement process of a target mover on a magnetic drive conveyor line, the drag start node position can be set in the simulation environment by the host computer based on specific planning requirements and the response can be started. At this time, the target mover in the simulation environment can be dragged to a suitable position (such as a workstation) and this position can be set to the drag end node position. Between these two nodes, the host computer can record the speed, acceleration, position and other information obtained by dragging. Therefore, in this embodiment, the drag event includes a drag speed sequence of the target mover based on the drag start node position to the drag end node position. Specifically, the drag speed sequence may include the drag speed measurement values ​​at different time points in the process of dragging the target mover from the drag start node position to the drag end node position.

[0035] Step 104: perform exponential smoothing on the dragging speed sequence to obtain a smooth speed curve.

[0036] Among them, exponential smoothing is actually a special weighted moving average method, which is used to smooth time series data, reduce random fluctuations in the original data, make the trend more obvious, and thus easier to analyze and predict.

[0037] In this embodiment, the dragging speed sequence obtained in the above steps is subjected to exponential smoothing to obtain a smoothed speed sequence, and a smoothed speed curve is constructed based on the smoothed speed sequence to reduce random fluctuations in the dragging process and make the curve smoother.

[0038] Step 106 : generating a target motion planning curve of the target mover based on the initial motion planning curve and the smoothed speed curve of the target mover.

[0039] Among them, the initial motion planning curve can be the motion planning curve before the modification demand of the target mover, which can be specifically the motion planning curve of the target mover generated under the preset working condition through the internal motion control algorithm (such as the trajectory planning method of the cubic curve, the quintic curve, the trapezoidal curve, the seven-segment S curve, etc.), and combined with the current working condition, which describes the initial path, speed, acceleration and other information of the target mover moving on the target magnetic drive conveyor line. The smooth speed curve is the speed planning curve of the target mover between the drag start node position and the drag end node position determined by the simulation environment based on the planning demand, that is, the specific demand modification part. The target motion planning curve is the new motion planning curve obtained after the modification demand of the target mover based on the smooth speed curve (that is, after the initial motion planning curve is modified). Therefore, the target motion planning curve of the target mover can be generated according to the initial motion planning curve and the smooth speed curve of the target mover.

[0040] In the above-mentioned mover motion planning method, by obtaining the drag event triggered by the simulation environment based on the target magnetic drive conveyor line, and performing exponential smoothing on the drag speed sequence, a smooth speed curve is obtained, and based on the initial motion planning curve and the smooth speed curve of the target mover, a target motion planning curve of the target mover is generated. Since the smooth speed curve is a speed planning curve of the target mover between the drag start node position and the drag end node position determined by the simulation environment based on the planning requirements, that is, the smooth speed curve is obtained by dragging and teaching, therefore, compared with the traditional method of relying on code writing to design or modify the mover motion trajectory, the method of the present application is simpler to operate, more flexible to implement, and can improve processing efficiency. And since the smooth speed curve is obtained after exponential smoothing of the drag speed sequence, the target motion planning curve of the target mover is generated based on this, which can ensure the stability and accuracy of the target mover during the movement.

[0041] In an exemplary embodiment, Figure 2 As shown, in step 104, exponential smoothing is performed on the dragging speed sequence to obtain a smooth speed curve, which may specifically include:

[0042] Step 202 , performing exponential smoothing processing on each drag speed in the drag speed sequence to obtain a smoothed speed after smoothing each drag speed.

[0043] The exponential smoothing process can be processed by a single exponential smoothing method (ie, a single exponential smoothing method). The smoothing speed is the result obtained by smoothing the dragging speed by using the single exponential smoothing method.

[0044] Since the dragging speed sequence includes dragging speed measurement values ​​at different time points in the process of dragging the target mover from the dragging start node position to the dragging end node position, exponential smoothing processing can be performed on each dragging speed in the dragging speed sequence to obtain a smoothed speed after smoothing each dragging speed.

[0045] Specifically, the drag speed can be smoothed using the following formula:

[0046] S t =αy t +(1-α)S t-1

[0047] Among them, y t is the dragging speed at time T, S t is the drag velocity y at time T t The smoothed speed after smoothing, S t-1is the smoothing speed at time (t-1), α is the smoothing parameter, ranging from 0 to 1, which determines the value assigned to the latest observation, i.e. y t The weight of the smoothing parameter also determines the smoothing level and the speed of response to the difference between the predicted value and the actual result. The closer the smoothing parameter is to 1, the faster the influence of the actual value in the future on the smoothed value of the current period decreases; the closer the smoothing parameter is to 0, the slower the influence of the actual value in the future on the smoothed value of the current period decreases. Therefore, when the time series is relatively stable, a smaller smoothing parameter can be used; when the time series fluctuates greatly, a larger smoothing parameter can be used to not ignore the influence of the actual value in the future.

[0048] When applying the above formula to smooth the drag speed, an initial smooth speed S0 may be determined first. Specifically, the first drag speed in the drag speed sequence may be taken as the initial smooth speed, or the average of the drag speeds in the drag speed sequence may be taken as the initial smooth speed, which is not limited in this embodiment.

[0049] Then, select the smoothing parameter α. Specifically, if the drag speed sequence does not fluctuate much and is relatively stable, the smoothing parameter can be smaller to reduce the correction amplitude and include information from a longer time series. If the drag speed sequence has a rapid and obvious change tendency, the smoothing parameter can be larger to increase sensitivity so as to quickly keep up with data changes. In practical applications, several values ​​can be taken for trial calculation, and finally the value that makes the prediction error smaller can be selected as the smoothing parameter.

[0050] Based on this, for the drag speed y at each time point in the drag speed sequence t , the above formula can be used to calculate the smoothing speed S at the corresponding time point t , to obtain the smoothed speed after smoothing the drag speed at each time point.

[0051] Step 204 : generating a smooth speed curve according to the smooth speed corresponding to each drag speed in the drag speed sequence.

[0052] Among them, the speed curve is a graphical representation of the change of speed over time, usually drawn in a two-dimensional coordinate system, with the horizontal axis representing time and the vertical axis representing speed. The shape of the speed curve can provide intuitive information about the motion state of the object, such as the speed curve is horizontal when the object is in uniform linear motion, and the speed curve is inclined when the object is in accelerated or decelerated motion, and the slope represents the acceleration. The smooth speed curve in this embodiment is a graphical representation of the change over time of the smooth speed corresponding to each drag speed in the drag speed sequence obtained based on the above steps. Specifically, by associating the smooth speed corresponding to each drag speed in the drag speed sequence with the corresponding time point, a smooth speed curve can be drawn.

[0053] In this embodiment, by performing exponential smoothing on each drag speed in the drag speed sequence, a smoothed speed after smoothing each drag speed is obtained, and a smoothed speed curve is generated according to the smoothed speed corresponding to each drag speed in the drag speed sequence. Since the smoothed speed is obtained after smoothing the drag speed, random fluctuations in the original data can be reduced, and then the smoothed speed curve is drawn using the smoothed speed, which can make the curve smoother.

[0054] In an exemplary embodiment, in step 106, based on the initial motion planning curve and the smooth speed curve of the target mover, a target motion planning curve of the target mover is generated, which may specifically include: according to the drag start node position and the drag end node position, the initial motion planning curve and the smooth speed curve are superimposed to obtain the target motion planning curve of the target mover. The superposition process may be based on the path between the drag start node position and the drag end node position, and the superposition of the speeds at the corresponding paths on the two curves.

[0055] Specifically, the initial speed curve of the corresponding path can be determined in the initial motion planning curve according to the drag start node position and the drag end node position; then the initial speed curve and the smooth speed curve are superimposed to obtain the superimposed speed curve, and the superimposed speed curve is determined as the target motion planning curve of the target mover based on the corresponding path.

[0056] Since the initial motion planning curve describes the initial path, speed, acceleration and other information of the target mover moving on the target magnetic drive conveyor line, and the path between the drag start node position and the drag end node position is the drag path generated by dragging and teaching in the simulation environment based on the motion planning modification requirements of the target mover, and since the simulation environment is obtained by simulating the real working environment of the target magnetic drive conveyor line, there must be real node positions corresponding to the drag start node position and the drag end node position on the real target magnetic drive conveyor line. Based on this, the real path on the corresponding real target magnetic drive conveyor line can be determined according to the path between the drag start node position and the drag end node position, and the initial speed curve corresponding to the real path can be determined in the initial motion planning curve of the target mover. The initial speed curve is the speed curve of the target mover under the corresponding real path determined based on the initial motion planning curve. The smooth speed curve is the speed planning curve of the target mover between the drag start node position and the drag end node position determined by the simulation environment based on the planning requirements, that is, the specific demand modification part. Therefore, by superimposing the two curves, we can obtain the target motion planning curve of the target mover under the corresponding real path. That is, when the target mover walks to the node corresponding to the dragging start node position, the target mover movement can be guided based on the target motion planning curve, thereby achieving a high degree of fit with user needs.

[0057] For example, if the initial motion planning curve of the target mover is Figure 3 The curve A in the figure, where the horizontal axis is time and the vertical axis is speed, then curve A describes the speed curve of the initial path of the target mover moving on the target magnetic drive conveyor line. Curve B is based on Figure 2 The method shown in the figure performs exponential smoothing on the drag speed sequence to obtain a smooth speed curve, which describes a smooth speed curve of the drag speed based on the drag path between the drag start node position and the drag end node position. It can be understood that the two intersection points of the two curves are the drag start node position and the drag end node position. If the drag start node position corresponds to the real node under the real path as n1, and the drag end node position corresponds to the real node under the real path as n2, then the line segment from n1 to n2 on curve A, i.e., curve C, is the initial speed curve of the real path corresponding to the drag path determined in the initial motion planning curve.

[0058] Specifically, by superimposing curve C and curve B, that is, adding the speed value corresponding to each time point on the initial speed curve, i.e., curve C, and the speed value corresponding to the time point on the smooth speed curve, i.e., curve B, to obtain a new speed value at the corresponding time point, that is, a new speed curve based on the path between n1 and n2 is obtained, and the new speed curve is determined as the target motion planning curve of the target mover based on the corresponding path.

[0059] It can be understood that in one scenario, if a new workstation node is added to the target magnetic drive conveyor line, the motion planning requirement for the target mover may be to increase the working path of the target mover to the new workstation node based on the new workstation node. In this scenario, the initial motion planning curve of the target mover, i.e., curve A, will not contain curve C corresponding to the dragging path. It can also be understood that the speed value corresponding to each time point on curve C is zero. Therefore, the smooth speed curve, i.e., curve B, can be directly determined as the target motion planning curve of the target mover based on the corresponding path.

[0060] This embodiment is based on the drag-and-drop teaching method, which can quickly adjust the motion trajectory of the target mover, thereby reducing the investment of time and energy and improving work efficiency. For example, the user can complete the adjustment of the motion trajectory of the target mover in a short time without spending a lot of time writing and debugging code. In this way, not only can the flexible motion planning of the magnetic drive conveyor line mover be realized, but also the work efficiency can be improved and the investment of time and energy can be reduced.

[0061] In an exemplary embodiment, the drag event may also include a drag acceleration sequence based on the drag start node position to the drag end node position. Figure 4 As shown, in step 102, after obtaining a drag event triggered by a simulation environment based on the target magnetic drive conveyor line, the method may further include:

[0062] Step 402 , performing exponential smoothing processing on each drag acceleration in the drag acceleration sequence to obtain a smoothed acceleration after smoothing each drag acceleration.

[0063] The drag acceleration sequence includes the physical quantity of how fast the drag speed changes at different time points in the process of dragging the target mover from the drag start node position to the drag end node position, which is the ratio of the change in drag speed to the time taken for this change to occur.

[0064] In this embodiment, exponential smoothing is performed on each drag acceleration in the drag acceleration sequence to obtain a smoothed acceleration after each drag acceleration is smoothed. The specific smoothing process can be referred to as follows: Figure 2 The method shown is not further described in this embodiment.

[0065] In one scenario, a corresponding smooth acceleration curve may be generated based on the smoothed acceleration after each drag acceleration is smoothed.

[0066] Step 404: Generate an extended acceleration of the smooth acceleration according to the smooth acceleration corresponding to each drag acceleration.

[0067] Among them, the extended acceleration can be a different acceleration derived from the drag acceleration corresponding to the drag event, and its purpose is to avoid repeating the same drag behavior. Since a fixed drag behavior will only get a fixed speed curve or acceleration curve, in order to avoid repeating the same drag behavior and get different speed curves or acceleration curves, in this embodiment, different speeds and accelerations can be generated and extended when the drag behavior of two nodes is executed for the first time, so that different speed curves or acceleration curves for the same path can be obtained, so that flexible selection can be made when reconfiguring the speed parameters of the path.

[0068] Therefore, in this embodiment, the extended acceleration of the smooth acceleration can be generated according to the smooth acceleration corresponding to each drag acceleration, that is, different extended accelerations are derived based on the smooth acceleration corresponding to the actual drag. Specifically, the extended acceleration can be derived based on data interpolation, data fitting, differential equation solving, machine learning, etc., or based on a first-order exponential smoothing prediction method, which is not limited in this embodiment.

[0069] Step 406: Generate an extended speed of the smooth speed according to the smooth speed corresponding to each drag speed.

[0070] Similarly, in this embodiment, an extended speed of the smooth speed may be generated according to the smooth speed corresponding to each drag speed, that is, different extended speeds may be derived based on the smooth speed corresponding to the actual drag.

[0071] Step 408 : generating a corresponding extended speed curve based on the extended speed, and generating a corresponding extended acceleration curve based on the extended acceleration.

[0072] Specifically, based on the extended speed derived from the above steps, a corresponding extended speed curve can be generated, and based on the extended acceleration derived from the above steps, a corresponding extended acceleration curve can be generated, thereby avoiding repeated execution of the same dragging behavior and obtaining different speed curves to improve the efficiency and flexibility of reconfiguring the speed parameters of the target mover.

[0073] In one scenario, when the motion planning requirements of the target mover change, the path corresponding to the change in requirements can be determined, and based on the smooth velocity curve, extended velocity curve, smooth acceleration curve and extended acceleration curve corresponding to the path, a curve that matches the specific motion planning requirements is selected and superimposed with the initial motion planning curve of the target mover to generate the target motion planning curve of the target mover.

[0074] In one scenario, after generating the target motion planning curve of the target mover, the above method may further include: upon receiving an update instruction for the target motion planning curve, updating the target motion planning curve according to the extended speed curve and the extended acceleration curve. That is, when the motion planning requirements for the same path change, there is no need to perform the dragging action again. The speed curve and acceleration curve obtained by the aforementioned extension can be reconfigured to achieve rapid adjustment, so as to improve the efficiency and flexibility of reconfiguring the speed parameters of the mover. And when faced with a line body with a complex structure, it does not require a huge amount of calculation, which improves operability.

[0075] When actually controlling the movement of the mover, the controller can complete different types of configurations according to the parameters corresponding to the speed curve or acceleration curve selected by the user. By transmitting data to the controller end of the mover, the controller can calculate the command value (i.e. position value) of the next cycle according to the parameters. The command position is calculated by the controller, and the command position is the planned command value. After all the information is configured, an xml file can be generated with one click, which is convenient for continued operation after power failure and power on again.

[0076] The above method can be widely used in the field of automatic control systems based on magnetic drive transmission, the field of mechanical manufacturing and other application fields. The magnetic drive conveyor line is a commonly used transmission equipment, and the motion trajectory of the mover directly affects the efficiency and accuracy of the transmission. The mover motion planning of the present application can plan the movement of the mover based on the drag-and-drop teaching method, and can accurately control the motion trajectory of the mover, thereby greatly improving the efficiency and flexibility of motion planning. Through drag-and-drop teaching in the simulation environment, users can intuitively adjust the motion trajectory of the mover without writing complex codes. This not only reduces the workload and improves efficiency, but also reduces the risk of errors. In general, the mover motion planning method of the present application has broad application prospects and market demand in both the field of automatic control systems and the field of mechanical manufacturing due to its advantages such as high efficiency, flexibility, and strong operability.

[0077] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0078] Based on the same inventive concept, the embodiment of the present application also provides a mover motion planning device for implementing the mover motion planning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more mover motion planning device embodiments provided below can refer to the limitations of the mover motion planning method above, and will not be repeated here.

[0079] In an exemplary embodiment, Figure 5 As shown, a mover motion planning device is provided, including: a drag event acquisition module 502, a smoothing processing module 504 and a motion planning module 506, wherein:

[0080] A drag event acquisition module 502 is used to acquire a drag event triggered by a simulation environment based on a target magnetic drive conveyor line, wherein the drag event includes a drag speed sequence from a drag start node position to a drag end node position;

[0081] A smoothing processing module 504 is used to perform exponential smoothing on the dragging speed sequence to obtain a smooth speed curve;

[0082] The motion planning module 506 is used to generate a target motion planning curve of the target mover based on the initial motion planning curve of the target mover and the smooth speed curve.

[0083] In an exemplary embodiment, the motion planning module is further used to: superimpose the initial motion planning curve and the smooth speed curve according to the drag start node position and the drag end node position to obtain the target motion planning curve of the target mover.

[0084] In an exemplary embodiment, the motion planning module is specifically used to: determine an initial speed curve of the corresponding path in the initial motion planning curve according to the drag start node position and the drag end node position; superimpose the initial speed curve and the smooth speed curve to obtain a superimposed speed curve, and determine the superimposed speed curve as the target motion planning curve of the target mover based on the path.

[0085] In an exemplary embodiment, the smoothing processing module is specifically used to: perform exponential smoothing processing on each drag speed in the drag speed sequence to obtain a smoothed speed after smoothing each drag speed; and generate the smoothed speed curve according to the smoothed speed corresponding to each drag speed in the drag speed sequence.

[0086] In an exemplary embodiment, the drag event also includes a drag acceleration sequence based on the drag start node position to the drag end node position; the device also includes a speed extension module, which is used to: perform exponential smoothing on each drag acceleration in the drag acceleration sequence to obtain a smoothed acceleration after smoothing each drag acceleration; generate an extended acceleration of the smooth acceleration according to the smooth acceleration corresponding to each drag acceleration; generate an extended speed of the smooth speed according to the smooth speed corresponding to each drag speed; generate a corresponding extended speed curve based on the extended speed, and generate a corresponding extended acceleration curve based on the extended acceleration.

[0087] In an exemplary embodiment, the motion planning module is further configured to, after generating the target motion planning curve of the target mover, update the target motion planning curve according to the extended speed curve upon receiving an update instruction for the target motion planning curve.

[0088] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 6As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a method for planning the motion of a mover is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0089] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a partial structure related to the present application scheme, and does not constitute a limitation on the computer device to which the present application scheme is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0090] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0091] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0092] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0093] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0094] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0095] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0096] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for planning the motion of a mover, characterized in that: The method comprises: Acquire a drag event triggered by a simulation environment based on a target magnetic drive conveyor line, wherein the drag event includes a drag speed sequence from a drag start node position to a drag end node position; Performing exponential smoothing on the dragging speed sequence to obtain a smooth speed curve; Based on the initial motion planning curve of the target mover and the smooth speed curve, a target motion planning curve of the target mover is generated.

2. The method according to claim 1, characterized in that The step of generating a target motion planning curve of the target mover based on the initial motion planning curve of the target mover and the smooth speed curve comprises: According to the drag start node position and the drag end node position, the initial motion planning curve and the smooth speed curve are superimposed to obtain a target motion planning curve of the target mover.

3. The method according to claim 2, characterized in that The method of performing superposition processing on the initial motion planning curve and the smooth speed curve according to the drag start node position and the drag end node position to obtain the target motion planning curve of the target mover includes: Determining an initial speed curve of a corresponding path in the initial motion planning curve according to the drag start node position and the drag end node position; The initial speed curve and the smooth speed curve are superimposed to obtain a superimposed speed curve, and the superimposed speed curve is determined as a target motion planning curve of the target mover based on the path.

4. The method according to any one of claims 1 to 3, characterized in that: The step of performing exponential smoothing on the dragging speed sequence to obtain a smooth speed curve includes: Performing exponential smoothing processing on each drag speed in the drag speed sequence to obtain a smoothed speed after smoothing each drag speed; The smooth speed curve is generated according to the smooth speed corresponding to each drag speed in the drag speed sequence.

5. The method according to claim 4, characterized in that The drag event further includes a drag acceleration sequence based on the drag start node position to the drag end node position; After acquiring the drag event triggered by the simulation environment based on the target magnetic drive conveyor line, the method further includes: Performing exponential smoothing processing on each drag acceleration in the drag acceleration sequence to obtain a smoothed acceleration after smoothing each drag acceleration; According to the smooth acceleration corresponding to each drag acceleration, generating an extended acceleration of the smooth acceleration; According to the smoothing speed corresponding to each dragging speed, generating an extended speed of the smoothing speed; A corresponding extended speed curve is generated based on the extended speed, and a corresponding extended acceleration curve is generated based on the extended acceleration.

6. The method according to claim 5, characterized in that After generating the target motion planning curve of the target mover, the method further includes: When an instruction to update the target motion planning curve is received, the target motion planning curve is updated according to the extended speed curve.

7. A mover motion planning device, characterized in that: The device comprises: A drag event acquisition module, used to acquire a drag event triggered by a simulation environment based on a target magnetic drive conveyor line, wherein the drag event includes a drag speed sequence from a drag start node position to a drag end node position; A smoothing processing module, used for performing exponential smoothing on the dragging speed sequence to obtain a smooth speed curve; The motion planning module is used to generate a target motion planning curve of the target mover based on the initial motion planning curve of the target mover and the smooth speed curve.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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