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

Abstract

The application relates to a mover motion planning method and device, computer equipment, a readable storage medium and a program product. A drag event triggered by a simulation environment based on a target magnetic drive conveying line is acquired, an exponential smoothing process is performed on a drag speed sequence, a smoothed speed curve is acquired, a target motion planning curve of a target mover is generated based on an initial motion planning curve of the target mover and the smoothed speed curve. Since the smoothed speed curve is a speed planning curve of the target mover between a drag start node position and a drag end node position determined by the simulation environment based on planning requirements, that is, the smoothed speed curve is obtained in a drag teaching manner, compared with a traditional code writing dependent manner for designing or modifying a mover motion trajectory, the application has simpler operation, higher flexibility in implementation, and can improve processing efficiency.

Description

TECHNICAL FIELD

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

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

[0003] In the traditional technology, the motion trajectory of the mover on the magnetic drive conveying 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 its residence time at each station, operation and arrival sequence all depend on detailed code writing and setting. However, when the user's demand changes, the code needs to be rewritten to control the motion of the mover, which not only consumes time and effort but also affects efficiency. SUMMARY

[0004] Therefore, it is necessary to provide a mover motion planning method, device, computer equipment, computer readable storage medium and computer program product capable of improving efficiency in view of the above technical problems.

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

[0006] obtaining a drag event triggered based on a simulation environment of a target magnetic drive conveying line, the drag event comprising a drag speed sequence based on a drag start node position to a drag end node position;

[0007] performing exponential smoothing processing on the drag speed sequence to obtain a smoothed speed curve;

[0008] generating a target motion planning curve of a target mover based on an initial motion planning curve of the target mover and the smoothed speed curve.

[0009] In one embodiment, the generating of the target motion planning curve of the target mover based on the initial motion planning curve of the target mover and the smoothed speed curve comprises: superimposing the initial motion planning curve and the smoothed 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.

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

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

[0012] In one of the embodiments, the dragging event further includes a dragging acceleration sequence based on the start node position of the dragging to the end node position of the dragging; and after the obtaining of the dragging event triggered by the simulation environment of the target magnetic driving conveying line, the method further includes: performing exponential smoothing processing on each dragging acceleration in the dragging acceleration sequence to obtain a smooth acceleration of each dragging acceleration; generating an extended acceleration of the smooth acceleration according to the smooth acceleration corresponding to each dragging acceleration; generating an extended velocity of the smooth velocity according to the smooth velocity corresponding to each dragging velocity; generating a corresponding extended velocity curve based on the extended velocity, and generating a corresponding extended acceleration curve based on the extended acceleration.

[0013] In one of the embodiments, after the generating of the target motion planning curve of the target mover, the method further includes: in a case where an update instruction for the target motion planning curve is received, updating the target motion planning curve according to the extended velocity curve.

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

[0015] A dragging event acquisition module is configured to acquire a dragging event triggered by a simulation environment of a target magnetic driving conveying line, the dragging event including a dragging velocity sequence based on a start node position of the dragging to an end node position of the dragging.

[0016] A smoothing processing module is configured to perform exponential smoothing processing on the dragging velocity sequence to obtain a smooth velocity curve.

[0017] A motion planning module is configured to generate a target motion planning curve of the target mover based on the initial motion planning curve of the target mover and the smoothed velocity curve.

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

[0019] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the method described above when executed by a processor.

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

[0021] The mover motion planning method, device, computer device, computer readable storage medium and computer program product described above, by acquiring a drag event triggered by a simulation environment based on a target magnetic drive conveying line, and performing exponential smoothing processing on a drag speed sequence to obtain a smoothed velocity curve, and generating a target motion planning curve of a target mover based on an initial motion planning curve of the target mover and the smoothed velocity curve. Since the smoothed velocity curve is a velocity 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 requirement, that is, the smoothed velocity curve is obtained by the drag teaching method, compared with the traditional method of designing or modifying the motion trajectory of the mover by relying on code writing, the method of the present application is simpler to operate, has higher flexibility in implementation, and can improve the processing efficiency. Since the smoothed velocity curve is obtained by performing exponential smoothing processing on the drag speed sequence, and the target motion planning curve of the target mover is generated based thereon, the smoothness and accuracy of the target mover in the motion process can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 A flowchart of a mover motion planning method in an embodiment;

[0024] Figure 2 A flowchart of a smoothing step in an embodiment;

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

[0026] Figure 4 A flowchart of the speed expansion step in one embodiment;

[0027] Figure 5 A block diagram of the mover motion planning device in one embodiment;

[0028] Figure 6 An internal structure diagram of the computer device in one embodiment. DETAILED DESCRIPTION

[0029] In order to make the purposes, 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 do not limit the present application.

[0030] In the traditional technology, the motion trajectory of the mover on the magnetic drive conveying line depends on detailed code writing and setting, and when the user's demand changes, the motion of the mover needs to be controlled by rewriting the code, which not only consumes time and effort but also affects efficiency. In particular, for some magnetic drive conveying lines with complex structure, such as three-dimensional conveying lines with vertical lifting function, if the traditional method of designing the motion trajectory of the mover by writing code is used, a large amount of calculation is required, so a lot of time and effort are needed to write and debug the code, which not only has poor flexibility but also is prone to errors. Therefore, the traditional motion planning method for the mover has certain limitations in flexibility, efficiency and operability.

[0031] Based on this, the embodiments of the present application provide a mover motion planning method to flexibly and efficiently configure the path and motion process of the mover on the magnetic drive conveying line. As shown in Figure 1 The method comprises the following steps:

[0032] Step 102, acquiring a drag event triggered based on a simulation environment of a target magnetic drive conveying line.

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

[0034] The drag event can be an action event triggered by a user's drag operation in the simulation environment. Specifically, the drag operation can be a point-to-point event listening. When it is necessary to plan a path or a motion process of a target mover on the magnetic drive conveying line, a drag start node position can be set in the simulation environment by the upper computer based on specific planning requirements and a response can be started, at this time, the target mover can be dragged to a suitable position (such as a certain station) in the simulation environment, and the position can be set as a drag end node position. Then, between the two nodes, the upper computer can record the speed, acceleration, position and other information obtained by the drag. Therefore, in the 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 can include 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] In step 104, exponential smoothing is performed on the drag speed sequence to obtain a smoothed speed curve.

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

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

[0038] In step 106, a target motion planning curve of the target mover is generated based on the initial motion planning curve of the target mover and the smoothed speed curve.

[0039] The initial motion planning curve can be a motion planning curve of the target mover before the modification requirement, which specifically can be a motion planning curve of the target mover generated by an internal motion control algorithm (such as a cubic curve, a quintic curve, a trapezoidal curve, a seven-segment S-curve, etc. trajectory planning method) under a preset working condition, in combination with the current working condition, which describes the initial path, speed and acceleration of the target mover on the target magnetic drive conveying line. The smoothed 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 requirement, that is, the specific requirement modification part. The target motion planning curve is a new motion planning curve of the target mover after the modification requirement (i.e. after the modification of the initial motion planning curve). Therefore, the target motion planning curve of the target mover can be generated according to the initial motion planning curve of the target mover and the smoothed speed curve.

[0040] In the mover motion planning method, a drag event triggered by a simulation environment based on a target magnetic drive conveying line is obtained, an exponential smoothing processing is performed on a drag speed sequence, a smooth speed curve is obtained, and a target motion planning curve of a target mover is generated based on an initial motion planning curve of the target mover and the smooth speed curve. Since the smooth speed curve is a speed planning curve of the target mover between a drag start node position and a drag end node position determined by the simulation environment based on planning requirements, that is, the smooth speed curve is obtained by the drag teaching method, compared with the traditional method of designing or modifying the motion trajectory of the mover by relying on code writing, the method is simpler to operate, has higher flexibility in implementation, and can improve the processing efficiency. Moreover, since the smooth speed curve is obtained by performing the exponential smoothing processing on the drag speed sequence, and the target motion planning curve of the target mover is generated based on this, the smoothness and accuracy of the target mover in the motion process can be ensured.

[0041] In one exemplary embodiment, as shown in FIG. 1, the method comprises the following steps. Figure 2 As shown in FIG. 1, in step 104, the drag speed sequence is subjected to exponential smoothing processing to obtain a smooth speed curve, which can specifically include the following steps.

[0042] In step 202, each drag speed in the drag speed sequence is subjected to exponential smoothing processing to obtain a smooth speed after smoothing of each drag speed.

[0043] The exponential smoothing processing can be performed by using a single exponential smoothing method (i.e., a first-order single exponential smoothing method). The smooth speed is a result obtained by performing the exponential smoothing processing on the drag speed by using the single exponential smoothing method.

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

[0045] Specifically, the following formula can be used to perform the smoothing processing on the drag speed:

[0046] S t = αy t + (1-α)S t-1

[0047] wherein y t is the drag speed at time T, S t is the smooth speed obtained by performing the smoothing processing on the drag speed y t at time T, and S t-1is the smoothed speed at time (t-1), and a is the smoothing parameter, which is in the range of 0 to 1, and determines the weight of the latest observation value y t , and also determines the smoothing level and the response speed to the difference between the predicted value and the actual result. The closer the smoothing parameter is to 1, the more rapidly the influence of the long-term actual value on the current period smoothed value decreases; the closer the smoothing parameter is to 0, the more slowly the influence of the long-term actual value on the current period smoothed value decreases. Therefore, when the time series is relatively stable, a smaller smoothing parameter can be taken; when the time series fluctuates greatly, a larger smoothing parameter can be taken, so as not to ignore the influence of the long-term actual value.

[0048] In the application of the above formula to the smoothing of the drag speed, an initial smoothed speed S0 can be determined. Specifically, the first drag speed in the drag speed sequence can be taken as the initial smoothed speed, or the average of the drag speeds in the drag speed sequence can be taken as the initial smoothed speed, and the present embodiment does not limit this.

[0049] Then, the smoothing parameter a is selected. Specifically, if the drag speed sequence is relatively stable and does not fluctuate greatly, the smoothing parameter can be taken to be small, so as to reduce the correction amplitude and to contain information of a longer time sequence; if the drag speed sequence has a rapidly and obviously changing tendency, the smoothing parameter can be taken to be large, so as to improve the sensitivity and to rapidly follow the change of the data. In actual application, several values can be taken for trial calculation, and finally a value with a smaller prediction error can be selected as the smoothing parameter.

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

[0051] In step 204, a smoothed speed curve is generated according to the smoothed speed corresponding to each drag speed in the drag speed sequence.

[0052] The speed curve is a graphical representation of the change of speed with time, which is usually plotted 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 a horizontal speed curve for uniform linear motion, an inclined speed curve for acceleration or deceleration motion, and the slope representing acceleration. The smoothed speed curve in the present embodiment is a graphical representation of the change of speed with time, which is plotted based on the smoothed speed corresponding to each drag speed in the drag speed sequence obtained in the above steps. Specifically, by associating the smoothed speed corresponding to each drag speed in the drag speed sequence with the corresponding time point, the smoothed speed curve can be plotted.

[0053] In the embodiment, the smooth speed of each dragging speed in the sequence of dragging speeds is obtained by performing exponential smoothing on each dragging speed in the sequence of dragging speeds, and the smooth speed curve is generated according to the smooth speed corresponding to each dragging speed in the sequence of dragging speeds. Since the smooth speed is obtained by smoothing the dragging speed, random fluctuations in the original data can be reduced, and the smooth speed curve can be drawn using the smooth speed, so that the curve is smoother.

[0054] In an exemplary embodiment, in step 106, the target motion planning curve of the target actor is generated based on the initial motion planning curve and the smooth speed curve of the target actor, and specifically can include: superimposing the initial motion planning curve and the smooth speed curve according to the dragging start node position and the dragging end node position to obtain the target motion planning curve of the target actor. The superimposition can be the superposition of the speeds on the corresponding paths in the two curves based on the path between the dragging start node position and the dragging end node position.

[0055] Specifically, the initial speed curve of the corresponding path in the initial motion planning curve can be determined according to the dragging start node position and the dragging 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 actor based on the corresponding path.

[0056] Since the initial motion planning curve describes the initial path, speed and acceleration and other information of the target actor moving on the target magnetic driving conveying line, and the path between the drag start node position and the drag end node position is the drag path generated by the drag demonstration in the simulation environment based on the motion planning modification demand of the target actor, and since the simulation environment is obtained by simulating the real working environment of the target magnetic driving conveying line, therefore, there must be real node positions corresponding to the drag start node position and the drag end node position on the real target magnetic driving conveying line. Based on this, the real path of the target actor on the corresponding real target magnetic driving conveying 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 actor. The initial speed curve is the speed curve of the target actor on the corresponding real path determined based on the initial motion planning curve. The smooth speed curve is the speed planning curve of the target actor 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. Therefore, superimposing the two curves can obtain the target motion planning curve of the target actor on the corresponding real path, that is, when the target actor walks to the node corresponding to the drag start node position, the target motion planning curve can be used to guide the motion of the target actor, so as to realize high fitting with the user demand.

[0057] For example, if the initial motion planning curve of the target actor is curve A in Figure 3 , 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 actor moving on the target magnetic driving conveying line. Curve B is the smooth speed curve obtained by performing exponential smoothing on the drag speed sequence based on the method shown in Figure 2 . It describes the 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 real node corresponding to the drag start node position on the real path is n1 and the real node corresponding to the drag end node position on the real path is n2, then the line segment from n1 to n2 on curve A, that is, 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 of each time point on the initial speed curve, that is, curve C, to the speed value of the corresponding time point on the smooth speed curve, that is, curve B, to obtain the new speed value of the corresponding time point, that is, to obtain the new speed curve based on the path between n1 and n2, and determine the new speed curve as the target motion planning curve of the target actor based on the corresponding path.

[0059] It can be understood that in one scenario, if a work station node is added to the target magnetic drive conveying line, the motion planning requirement of the target actor may be to increase the work path of the target actor to the newly added work station node based on the newly added work station node. In this scenario, the initial motion planning curve of the target actor in curve A does not have 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, so the smooth speed curve, i.e. curve B, can be directly determined as the target motion planning curve of the target actor based on the corresponding path.

[0060] Based on the drag teaching method, the motion trajectory of the target actor can be quickly adjusted, thereby reducing the time and effort input and improving the work efficiency. For example, the user can complete the motion trajectory adjustment of the target actor in a short time without spending a lot of time on code writing and debugging. In this way, not only the flexible motion planning of the magnetic drive conveying line actor can be realized, but also the work efficiency can be improved, and the time and effort input can be reduced.

[0061] In one exemplary embodiment, the drag event can also include a drag acceleration sequence based on the drag start node position to the drag end node position. Then, as shown in step 102, after obtaining the drag event triggered based on the simulation environment of the target magnetic drive conveying line, the above method can further include: Figure 4

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

[0063] The drag acceleration sequence includes a physical quantity that reflects the speed change of the target actor from the drag start node position to the drag end node position at different time points during the dragging process. It is the ratio of the change amount of the dragging speed to the time taken to change.

[0064] In this embodiment, exponential smoothing processing is performed on each drag acceleration in the drag acceleration sequence to obtain a smooth acceleration after smoothing each drag acceleration. The specific smoothing process can refer to the method shown in Figure 2 , and this embodiment will not be described again.

[0065] In one scenario, a corresponding smooth acceleration curve can also be generated based on the smooth acceleration after smoothing each drag acceleration.

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

[0067] ​The extended acceleration can be a different acceleration derived based on the dragging acceleration corresponding to the dragging event, and the purpose is to avoid repeated execution of the same dragging behavior. Since a fixed dragging behavior only obtains a fixed speed curve or acceleration curve, in order to obtain different speed curves or acceleration curves without repeated execution of the same dragging behavior, in the embodiment, different speeds and accelerations can be generated when the dragging behavior of the two nodes is performed for the first time, so that different speed curves or acceleration curves for the same path can be obtained, so that the speed parameters of the path can be flexibly selected when the speed parameters of the path are reconfigured.

[0068] Therefore, in the embodiment, the extended acceleration of the smooth acceleration can be generated according to the smooth acceleration corresponding to each dragging acceleration, that is, different extended accelerations are derived based on the smooth acceleration corresponding to the actual dragging. Specifically, the derivation of the extended acceleration can be obtained based on data interpolation, data fitting, differential equation solving, machine learning, or can be obtained based on one exponential smoothing prediction, and the embodiment does not limit this.

[0069] Step 406, generating an extended speed of the smooth speed according to the smooth speed corresponding to each dragging speed.

[0070] Similarly, in the embodiment, the extended speed of the smooth speed can also be generated according to the smooth speed corresponding to each dragging speed, that is, different extended speeds are derived based on the smooth speed corresponding to the actual dragging.

[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 in the above steps, a corresponding extended speed curve can be generated, and based on the extended acceleration derived in the above steps, a corresponding extended acceleration curve can be generated. Thus, different speed curves can be obtained without repeated execution of the same dragging behavior, so as to improve the efficiency and flexibility of reconfiguring the speed parameters of the target agent.

[0073] In one scenario, when the motion planning demand of the target agent changes, the path corresponding to the demand change can be determined, and the smooth speed curve, the extended speed curve, the smooth acceleration curve and the extended acceleration curve corresponding to the path can be selected to match the specific motion planning demand, and superimposed with the initial motion planning curve of the target agent, thereby generating the target motion planning curve of the target agent.

[0074] In one scenario, after generating the target motion planning curve of the target mover, the above method can further include: in the case where an update instruction for the target motion planning curve is received, updating the target motion planning curve according to the extended velocity curve and the extended acceleration curve. That is, when the motion planning requirements for the same path change, instead of performing the dragging action again, the velocity curve and the acceleration curve obtained by the foregoing extension can be used to reconfigure it, thereby achieving rapid adjustment to improve the efficiency and flexibility of reconfiguring the velocity parameters of the mover. And when facing a complex structure line, it also does not require a large amount of calculation, improving the operability.

[0075] In actual control of the motion of the mover, the controller can complete different types of configuration according to the parameters corresponding to the velocity curve or the acceleration curve selected by the user. By transmitting data to the controller end of the mover, the controller can calculate the instruction value (i.e. position value) of the next period according to the parameters. The instruction position is calculated by the controller, and the instruction position is the planned instruction value. After all information is configured, an xml file can be generated with one key, which is convenient for continuing to run after power failure and re-powering.

[0076] The above method can be widely applied in the fields of automated control systems based on magnetic drive transportation, mechanical manufacturing, etc. The magnetic drive transportation line is a commonly used transmission equipment, and the motion trajectory of the mover directly affects the transmission efficiency and accuracy. The mover motion planning of the present application can plan the motion of the mover based on the dragging teaching method, and can accurately control the motion trajectory of the mover, thereby greatly improving the efficiency and flexibility of motion planning. By dragging and teaching in the simulation environment, the user can intuitively adjust the motion trajectory of the mover without the need to write complex code. This not only reduces the workload and improves the efficiency, but also reduces the risk of errors. In general, the mover motion planning method of the present application has a wide application prospect and market demand in the fields of automated control systems and mechanical manufacturing due to its high efficiency, flexibility, and strong operability.

[0077] It should be understood that although the steps in the flowcharts to which the embodiments described above relate are shown in a sequence as indicated by arrows, the steps do not have to be executed in the order as indicated by the arrows. Unless explicitly stated otherwise herein, the execution of the steps is not strictly limited in sequence and the steps can be executed in other sequences. Moreover, at least some of the steps in the flowcharts to which the embodiments described above relate can comprise multiple steps or stages which do not have to be executed at the same time but can be executed at different times and which do not have to be executed in sequence but can be executed in rotation or alternation with at least some of the steps or stages of other steps or stages.

[0078] Based on the same inventive concept, the embodiments of the present application further provide a mover motion planning device for implementing the mover motion planning method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, and therefore 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 described above, which will not be repeated here.

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

[0080] The drag event acquisition module 502 is configured to acquire a drag event triggered based on a simulation environment of a target magnetic drive conveying line, the drag event comprising a drag speed sequence based on a drag start node position to a drag end node position.

[0081] The smoothing processing module 504 is configured to perform exponential smoothing processing on the drag speed sequence to obtain a smoothed speed curve.

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

[0083] In one exemplary embodiment, the motion planning module is further configured to: superimpose the initial motion planning curve and the smoothed 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 example embodiment, the motion planning module is specifically configured to: determine an initial velocity curve of a corresponding path in the initial motion planning curve according to the drag start node position and the drag end node position; superimpose the initial velocity curve and the smooth velocity curve to obtain a superimposed velocity curve, and determine the superimposed velocity curve as the target motion planning curve of the target actor based on the path.

[0085] In an example embodiment, the smoothing processing module is specifically configured to: perform exponential smoothing processing on each drag velocity in the drag velocity sequence to obtain a smooth velocity of each drag velocity; and generate the smooth velocity curve according to the smooth velocity corresponding to each drag velocity in the drag velocity sequence.

[0086] In an example embodiment, the drag event further includes a drag acceleration sequence based on the drag start node position to the drag end node position; and the device further includes a velocity expansion module configured to: perform exponential smoothing processing on each drag acceleration in the drag acceleration sequence to obtain a smooth acceleration of each drag acceleration; generate an expansion acceleration of the smooth acceleration according to the smooth acceleration corresponding to each drag acceleration; generate an expansion velocity of the smooth velocity according to the smooth velocity corresponding to each drag velocity; generate a corresponding expansion velocity curve based on the expansion velocity, and generate a corresponding expansion acceleration curve based on the expansion acceleration.

[0087] In an example embodiment, the motion planning module is further configured to, after generating the target motion planning curve of the target actor, update the target motion planning curve according to the expansion velocity curve in a case that an update instruction for the target motion planning curve is received.

[0088] In an example embodiment, a computer device is provided, which can be a terminal, and an internal structure diagram of the computer device can be as shown in Figure 6The computer device shown in the figure includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. 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 operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner. The wireless manner can be realized through WIFI, mobile cellular network, near field communication (NFC) or other technologies. The computer program is executed by the processor to realize a mover motion planning method. 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. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

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

[0090] In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to realize the steps in each of the above method embodiments.

[0091] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to realize the steps in each of the above method embodiments.

[0092] In one embodiment, a computer program product is provided, including a computer program, and the computer program is executed by a processor to realize the steps in each of the above method embodiments.

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

[0094] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program. 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 above-mentioned embodiments of each method. In the embodiments provided in the present application, any reference to memory, database or other medium can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (Resistive Random Access Memory, ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (Artificial Intelligence, AI) processor, etc., without being limited thereto.

[0095] Any technical features in the above embodiments can be combined, and for the sake of brevity, not all possible combinations are described above, however, any combination of these technical features is deemed to be within the scope of the present application.

[0096] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, several modifications 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 should be subject to the appended claims.

Claims

1. A motion planning method for a moving part, characterized in that, The method includes: Acquire drag events triggered by the simulation environment based on the target magnetic drive conveyor line, wherein the drag events include a drag speed sequence based on the drag start node position to the drag end node position; The drag speed sequence is exponentially smoothed to obtain a smooth speed curve; Based on the drag start node position and the drag end node position, the initial motion planning curve of the target mover and the smooth velocity curve are superimposed to obtain the target motion planning curve of the target mover. The step of superimposing the initial motion planning curve of the target mover and the smooth velocity curve based on the drag start node position and the drag end node position to obtain the target motion planning curve of the target mover includes: Based on the position of the drag start node and the position of the drag end node, determine the initial velocity curve of the corresponding path in the initial motion planning curve; The initial velocity curve and the smoothed velocity curve are superimposed to obtain the superimposed velocity curve, which is then determined as the target motion planning curve of the target mover based on the path.

2. The method according to claim 1, characterized in that, The step of performing exponential smoothing on the drag speed sequence to obtain a smoothed speed curve includes: Perform exponential smoothing on each drag speed in the drag speed sequence to obtain the smoothed speed after smoothing each drag speed; The smooth speed curve is generated based on the smooth speed corresponding to each drag speed in the drag speed sequence.

3. The method according to claim 2, characterized in that, 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 further includes: Perform exponential smoothing on each drag acceleration in the drag acceleration sequence to obtain the smoothed acceleration after smoothing each drag acceleration; Based on the smooth acceleration corresponding to each drag acceleration, generate the extended acceleration of the smooth acceleration; Based on the smoothing speed corresponding to each drag speed, an extended speed of the smoothing speed is generated; A corresponding expansion velocity curve is generated based on the expansion velocity, and a corresponding expansion acceleration curve is generated based on the expansion acceleration.

4. The method according to claim 3, characterized in that, After generating the target motion planning curve of the target mover, the method further includes: Upon receiving an update instruction for the target motion planning curve, the target motion planning curve is updated according to the extended velocity curve.

5. A motion planning device for a moving part, characterized in that, The device includes: The drag event acquisition module is used to acquire drag events triggered by the simulation environment based on the target magnetic drive conveyor line. The drag events include a drag speed sequence based on the drag start node position to the drag end node position. A smoothing module is used to perform exponential smoothing on the drag speed sequence to obtain a smoothed speed curve. The motion planning module is used to superimpose the initial motion planning curve of the target mover and the smooth velocity 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. The motion planning module is specifically used to: determine the initial velocity curve of the corresponding path in the initial motion planning curve based on the position of the drag start node and the position of the drag end node; superimpose the initial velocity curve and the smooth velocity curve to obtain the superimposed velocity curve, and determine the superimposed velocity curve as the target motion planning curve of the target mover based on the path.

6. The apparatus according to claim 5, characterized in that, The smoothing module is specifically used for: Perform exponential smoothing on each drag speed in the drag speed sequence to obtain the smoothed speed after smoothing each drag speed; The smooth speed curve is generated based on the smooth speed corresponding to each drag speed in the drag speed sequence.

7. The apparatus according to claim 6, 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; the device further includes a speed expansion module, used for: Perform exponential smoothing on each drag acceleration in the drag acceleration sequence to obtain the smoothed acceleration after smoothing each drag acceleration; Based on the smooth acceleration corresponding to each drag acceleration, generate the extended acceleration of the smooth acceleration; based on the smooth speed corresponding to each drag speed, generate the extended speed of the smooth speed. A corresponding expansion velocity curve is generated based on the expansion velocity, and a corresponding expansion acceleration curve is generated based on the expansion acceleration.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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