Motion planning method for rotor in conveying system and conveying system

Abstract

The invention discloses a rotor motion planning method in a conveying system and the conveying system, the conveying system comprises a plurality of rotors, the method comprises the following steps: determining the number and the motion trail of the plurality of rotors, designing the motion parameters of the plurality of rotors, and designing the motion parameters of the plurality of rotors to be the same, the motion parameters comprise at least one of an acceleration change rule, a speed change rule and a rotor position change rule of the rotor. Therefore, the plurality of rotors can move according to the uniformly set motion parameters, so that the movement of the plurality of rotors is uniform, the buffer time of the anti-collision design of the rotors in an asynchronous control state is saved, and the working efficiency is greatly improved.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to a method for planning the motion of a mover in a conveying system and a conveying system. Background Art

[0002] With the development of precision positioning platforms and magnetic levitation technology, magnetic levitation precision motion platforms are widely used in magnetic levitation trains and the latest lithography products. The principle of magnetic levitation motion is very similar to that of magnetic bearings and magnetic levitation trains, but its control is a combination of the two: it must have the high-speed, high-load, and stable linear motion of magnetic levitation trains, the high-precision suspension motion of magnetic bearings, and the ultra-high linear motion positioning accuracy.

[0003] Currently, magnetic levitation conveying technology is being widely used in conveying systems, for example, in logistics or manufacturing fields, to help companies improve the degree of production automation. Summary of the invention

[0004] At least one embodiment of the present disclosure provides a method for motion planning of a mover in a conveying system, wherein the conveying system includes a plurality of movers, and the method includes: determining the number and motion trajectories of the plurality of movers, and designing motion parameters of the plurality of movers, and designing the motion parameters of the plurality of movers to be the same, wherein the motion parameters include at least one of the acceleration change law, the speed change law and the position change law of the mover.

[0005] For example, in the method provided by at least one embodiment of the present disclosure, the motion parameters of the multiple movers are designed, including: determining the starting speed and the ending speed of the multiple movers, and determining the motion range of the multiple movers in combination with the length of the motion trajectory, wherein the motion range includes at least one of an acceleration range, a uniform speed range, and a deceleration range.

[0006] For example, in the method provided by at least one embodiment of the present disclosure, determining the movement range of the multiple movers includes: determining the acceleration range of the multiple movers, determining the deceleration range of the multiple movers, and judging whether a uniform speed range is needed based on the acceleration range, the deceleration range and the length of the motion trajectory.

[0007] For example, in the method provided in at least one embodiment of the present disclosure, determining the acceleration intervals of the plurality of movers includes: determining the maximum speed V of the plurality of movers max , determine the maximum acceleration a of the multiple movers max , and calculate the time T1 and distance S1 of the acceleration interval.

[0008] For example, in the method provided by at least one embodiment of the present disclosure, the acceleration interval includes at least one of a jerking acceleration interval, a uniform acceleration interval, and a decelerating acceleration interval.

[0009] For example, in the method provided in at least one embodiment of the present disclosure, determining the deceleration intervals of the plurality of movers includes: determining the maximum deceleration d of the plurality of movers max , and calculate the time T2 and distance S2 of the deceleration interval.

[0010] For example, in the method provided by at least one embodiment of the present disclosure, the deceleration interval includes at least one of an acceleration / deceleration interval, a uniform deceleration interval, and a deceleration / deceleration interval.

[0011] For example, in the method provided by at least one embodiment of the present disclosure, whether a uniform speed interval is needed is determined based on the acceleration interval, the deceleration interval and the length of the motion trajectory, including: determining the relationship between the sum of the distance S1 and the distance S2 and the length of the motion trajectory, if the sum of the distance S1 and the distance S2 is less than the length of the motion trajectory, a uniform speed interval is needed; if the sum of the distance S1 and the distance S2 is equal to the length of the motion trajectory, a uniform speed interval is not needed; if the sum of the distance S1 and the distance S2 is greater than the length of the motion trajectory, redetermining at least one of the acceleration interval and the deceleration interval.

[0012] For example, the method provided by at least one embodiment of the present disclosure further includes: calculating the time T3 of the uniform speed interval according to the difference between the sum of the distance S1 and the distance S2 and the length of the motion trajectory.

[0013] For example, the method provided by at least one embodiment of the present disclosure also includes: when the uniform speed interval is not needed, calculating the sum of the time T1 and the time T2, and comparing the sum of the time T1 and the time T2 with the target time T to obtain a time difference, and if the time difference is greater than the deviation threshold, redetermining at least one of the acceleration interval and the deceleration interval; or, when the uniform speed interval is needed, calculating the sum of the time T1, the time T2 and the time T3, and comparing the sum of the time T1, the time T2 and the time T3 with the target time T to obtain a time difference, and if the time difference is greater than the deviation threshold, redetermining at least one of the acceleration interval and the deceleration interval.

[0014] For example, in the method provided by at least one embodiment of the present disclosure, the motion parameters of the multiple movers are designed, including: determining the target time T for the multiple movers to move on the motion trajectory, and determining the motion interval of the multiple movers based on the length of the motion trajectory, wherein the motion interval includes at least one of an acceleration interval, a uniform speed interval, and a deceleration interval.

[0015] For example, in the method provided by at least one embodiment of the present disclosure, the motion parameters of the multiple movers are designed, including: determining the time interval for adjacent movers among the multiple movers to reach the end point of the motion trajectory, and determining the motion interval of the multiple movers in combination with the length of the motion trajectory, wherein the motion interval includes at least one of an acceleration interval, a uniform speed interval, and a deceleration interval.

[0016] For example, the method provided by at least one embodiment of the present disclosure also includes: determining a safe distance between adjacent movers among the multiple movers, and determining the interval time between adjacent movers among the multiple movers starting from the starting point of the motion trajectory based on the safe distance and the motion parameters.

[0017] At least one embodiment of the present disclosure further provides a conveying system, which includes a stator track, a plurality of movers, a memory and a controller, wherein the stator track includes a coil, and the plurality of movers are arranged on the stator track, wherein each of the plurality of movers includes a magnetic plate and is configured to move under the action of a magnetic field generated after the coil is energized, and the memory is configured to store motion parameters of the plurality of movers, wherein the motion parameters of the plurality of movers are the same, and the controller is configured to control the plurality of movers to move according to the motion parameters, wherein the motion parameters include at least one of an acceleration change law, a velocity change law and a position change law of the mover.

[0018] For example, in the conveying system provided by at least one embodiment of the present disclosure, the memory is also configured to store the relationship between the motion parameters of the multiple movers and the magnitude of the current of the coil, and the controller is configured to control the magnitude of the current provided to the coil, thereby controlling the multiple movers to move according to the motion parameters.

[0019] For example, in the conveying system provided by at least one embodiment of the present disclosure, the stator track is annular.

[0020] At least one embodiment of the present disclosure further provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the method for planning the motion of a mover in a conveying system provided in an embodiment of the present disclosure is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0022] Figure 1 A schematic diagram of the structure of a conveying system provided by at least one embodiment of the present disclosure;

[0023] Figure 2 A flow chart of a method for planning motion of a mover in a conveying system provided by at least one embodiment of the present disclosure;

[0024] Figure 3 A diagram showing changes in motion parameters planned by a method for planning motion of a mover in a conveying system provided by at least one embodiment of the present disclosure;

[0025] Figure 4 A graph showing changes in the motion positions of a plurality of movers over time planned by a method for planning the motion of a mover in a conveying system provided by at least one embodiment of the present disclosure; and

[0026] Figure 5 A graph showing the change in movement speed over time of multiple movers planned by a mover motion planning method in a conveying system provided in at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the invention belongs. The words "first", "second" and similar terms used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Inside", "outside", "upper", "lower" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0029] Linear conveying systems, such as magnetic levitation conveying systems, are a new type of conveying system. Compared with traditional conveying devices, they are based on the principle of linear motors, use coils as stators, and permanent magnets drive trays as movers. They can realize motion control of a single mover, greatly improving the flexibility, speed and stability of the conveying system. They are widely used in lithium batteries, 3C, packaging and canning, medical, home appliances, auto parts, photovoltaics, semiconductors and other industries.

[0030] The movers of traditional linear conveyor lines use asynchronous control. The movers move independently and can start and stop at any position. They have the advantages of high flexibility, the ability to realize complex flexible production processes, and the ability to produce multiple products simultaneously. However, in some assembly line scenarios with high beat requirements, the mover's own anti-collision mechanism will inevitably cause the mover to slow down, affecting overall work efficiency.

[0031] At least one embodiment of the present disclosure provides a method for motion planning of a mover in a conveying system, wherein the conveying system includes a plurality of movers, and the method includes: determining the number and motion trajectories of the plurality of movers, and designing motion parameters of the plurality of movers, and designing the motion parameters of the plurality of movers to be the same, wherein the motion parameters include at least one of an acceleration change law, a velocity change law, and a position change law of the mover.

[0032] At least one embodiment of the present disclosure further provides a conveying system, which includes a stator track, a plurality of movers, a memory and a controller, wherein the stator track includes a coil, and the plurality of movers are arranged on the stator track, wherein each of the plurality of movers includes a magnetic plate and is configured to move under the action of a magnetic field generated after the coil is energized, the memory is configured to store motion parameters of the plurality of movers, wherein the motion parameters of the plurality of movers are the same, and the controller is configured to control the plurality of movers to move according to the motion parameters, wherein the motion parameters include at least one of an acceleration change law, a speed change law and a position change law of the mover.

[0033] In the embodiments of the present disclosure, by uniformly planning the motion parameters of multiple movers, such as acceleration changes, speed changes, and position changes, the multiple movers do not need to interact with the system, and the multiple movers always move according to the uniformly set motion parameters, thereby making the movements of the multiple movers uniform, saving the buffer time of the mover anti-collision design under the asynchronous control state, and greatly improving work efficiency; on the other hand, the same motion parameters of multiple movers can reduce the vibration of the conveyor line, which can effectively reduce mechanical wear, noise, heat and other problems, and improve the stability of the system.

[0034] The following describes the method for planning the motion of a mover in a conveying system and the conveying system provided by the embodiments of the present disclosure through several specific embodiments.

[0035] At least one embodiment of the present disclosure provides a method for planning the motion of a mover in a conveying system. Figure 1 The schematic diagram of the structure of the conveying system is shown. Figure 2 A flow chart of the mover motion planning method is shown.

[0036] For example, Figure 1 As shown, the conveying system includes a plurality of movers 101, and the plurality of movers 101 can be driven to move on a stator track 102. For example, each mover 101 includes a tray, which can be used to carry items to be conveyed. For example, the stator track 102 can include at least one workstation, such as a plurality of workstations, for example, for performing different tasks. The plurality of movers 101 can convey the items to be conveyed from one workstation to another on the stator track 102.

[0037] For example, Figure 2 As shown, the mover motion planning method may include steps S101 and S102.

[0038] Step S101: determine the number and movement trajectories of multiple movers.

[0039] For example, the number of the plurality of movers mentioned above may be the number of the plurality of movers used, and this number may be determined by the customer or set according to the conveying requirements.

[0040] For example, in Figure 1 In the illustrated conveying system, the number of movers 101 is 6. In other embodiments, the number of movers 101 is at least two, for example, three, four, five, eight, nine, ten or more.

[0041] For example, the motion trajectories of the multiple movers may be the motion trajectories of the multiple movers between adjacent workstations, that is, the motion trajectories of the multiple movers moving from one workstation to another.

[0042] For example, in actual operation, the operator can set the work position of the mover through the system platform: the operator drags the mark representing the working position of the mover in the system platform interface to the expected work position, or directly inputs the expected position information to set the work position; or, the operator can also manually move the mover to set the work position.

[0043] For example, in Figure 1 In the shown conveying system, the motion trajectories of the multiple movers 101 are part of or all of the motion trajectories on the stator track 102 , that is, the motion trajectories of the multiple movers 101 are part of or all of the motion trajectories defined by the stator track 102 .

[0044] For example, in some embodiments, the stator track 102 is annular, such as a closed ring such as a circle, a racetrack, or a rectangle. Figure 1Taking the racetrack-shaped stator track 102 as an example, the racetrack-shaped motion trajectory may have multiple workstations, and multiple movers need to move through the multiple workstations in sequence. At this time, what needs to be determined is the motion trajectory of the multiple movers between adjacent workstations.

[0045] For example, in some embodiments, a safety distance between adjacent movers among the multiple movers may also be determined. For example, the multiple movers need to maintain a certain safety distance, which is the minimum distance between the centers of two adjacent movers. During the movement, the two adjacent movers will maintain this safety distance in a congested state to prevent collision.

[0046] For example, the safety distance can be determined based on factors such as the object carried by the mover, the weight (inertia) of the mover, and the movement speed of the mover.

[0047] Step S102: designing motion parameters of a plurality of movers, and designing the motion parameters of the plurality of movers to be the same.

[0048] For example, the motion parameter includes at least one of an acceleration variation law, a velocity variation law, and a position variation law of the mover.

[0049] For example, in some embodiments, designing the motion parameters of multiple movers includes: determining the starting speed and the end speed of the multiple movers, and the starting speed and the end speed can be determined according to demand or actual conditions, for example, according to a safety distance, the task to be performed by the workstation, the object to be transported carried by the mover, the system settings, etc., or determined according to customer needs; combining the length of the motion trajectory, determining the motion range of the multiple movers, and the motion range includes at least one of an acceleration range, a uniform speed range, and a deceleration range.

[0050] For example, taking the motion trajectory of multiple movers from the first station to the second station as an example, for example, Figure 1 As shown, the first workstation is located at position 1 on the stator track 102, and the second workstation is located at position 2 on the stator track 102. The movement path of the multiple movers from position 1 to position 2 in a clockwise direction is the movement trajectory to be determined. At this time, the speed of the multiple movers at position 1 is the starting speed, and the speed of the multiple movers at position 2 is the terminal speed.

[0051] For example, determining the motion intervals of the multiple movers includes: determining acceleration intervals of the multiple movers, determining deceleration intervals of the multiple movers, and judging whether a uniform speed interval is required according to the acceleration interval, the deceleration interval and the length of the motion trajectory.

[0052] For example, Figure 3The figure shows the motion intervals of multiple movers planned by the mover motion planning method in the conveying system provided by at least one embodiment of the present disclosure. The motion intervals can reflect the acceleration change law, speed change law and mover position change law during the mover motion process.

[0053] For example, Figure 3 As shown, determining the acceleration intervals of the multiple movers includes: determining the maximum speed V of the multiple movers max , that is Figure 3 v3 in the equation, determine the maximum acceleration a of multiple movers max , and calculate the time T1 and distance S1 of the acceleration interval.

[0054] For example, the maximum speed V of multiple movers max and the maximum acceleration a max It can be determined based on the structural conditions of the conveying system itself, such as the material and mechanical matching method of the contact surface between the mover 101 and the stator rail 102, taking into account factors such as mechanical wear, noise, heat generation, and the movement safety of the mover.

[0055] For example, in some examples, the maximum speed V max You can choose the maximum speed and maximum acceleration a that the conveying system can allow. max The maximum acceleration allowed by the conveyor system can be selected.

[0056] For example, the acceleration interval includes at least one of a jerking acceleration interval, a uniform acceleration interval, and a decelerating acceleration interval. Figure 3 In the embodiment of the present invention, the acceleration interval includes a jerking acceleration interval, a uniform acceleration interval and a decelerating acceleration interval.

[0057] like Figure 3 As shown, the initial velocity of the mover is v st The acceleration interval is the speed from v st Change to v1, acceleration changes from 0 to a max , the moving distance changes from 0 to s1, and the acceleration frequency (jerk) j is j max The uniform acceleration interval is when the speed changes from v1 to v2, and the acceleration remains at a max , the moving distance changes from s1 to s2, and the acceleration frequency j is 0; the deceleration interval is the speed changes from v2 to v3, and the acceleration changes from a max changes to 0, the moving distance changes from s2 to s2, and the acceleration frequency j is -j max interval.

[0058] For example, in some examples, the acceleration frequency j can be selected as the maximum acceleration frequency j allowed by the conveying system. max .

[0059] From this, the time for each interval can be calculated:

[0060] The duration of the acceleration interval is t1 = a max / j max ,

[0061] The duration of the deceleration interval is t3 = t1,

[0062] The duration of the uniform acceleration interval is t2 = (v3-v st ) / a max -t1,

[0063] The total time of the acceleration section is T1=t1+t2+t3.

[0064] From this, the moving distance S1 of the entire acceleration interval can also be calculated:

[0065] S1=v st *(2*t1+t2)+0.5*j max *t1*[2*(t1) 2 +3*t1*t2+(t2) 2 ].

[0066] For example, after the acceleration interval is determined, the deceleration intervals of the plurality of movers are determined, including: determining the maximum deceleration d of the plurality of movers max , and calculate the time T2 and distance S2 of the deceleration interval.

[0067] For example, the deceleration interval includes at least one of an acceleration / deceleration interval, a uniform deceleration interval, and a deceleration / deceleration interval. Figure 3 In the embodiment of the present invention, the deceleration interval includes an acceleration / deceleration interval, a uniform deceleration interval and a deceleration / deceleration interval.

[0068] For example, Figure 3 As shown, the terminal speed of the mover is v7, the acceleration and deceleration range is the speed changes from v4 to v5, and the acceleration changes from 0 to -a max , that is, d max =-a max , the moving distance changes from s4 to s5, and the deceleration frequency (acceleration and deceleration) j is j max The uniform deceleration interval is when the speed changes from v5 to v6, and the deceleration remains at -a max , the moving distance changes from s5 to s6, and the deceleration frequency j is 0; the deceleration interval is the speed changes from v6 to v7, and the deceleration is -a max changes to 0, the moving distance changes from s6 to s7, and the deceleration frequency j is -j max interval.

[0069] For example, in some examples, the maximum deceleration d of the plurality of movers ismax You can select the maximum deceleration rate allowed by the conveying system. For example, the deceleration frequency j can be selected as the maximum deceleration frequency -j allowed by the conveying system. max .

[0070] From this, the time for each interval can be calculated:

[0071] The duration of the acceleration / deceleration interval t5 = |d max | / j max ,

[0072] The duration of the deceleration interval is t7=t5,

[0073] Duration of acceleration / deceleration interval t6 = (v3–v7) / |d max |-t5,

[0074] The total time of the deceleration section is T2=t5+t6+t7.

[0075] From this, the moving distance S2 of the entire deceleration interval can also be calculated:

[0076] S2=v st +0.5*j max *(t1) 2 +j max *t1*t2+0.5*j max *(t3) 2 )*(2*t5+t6)-0.5*j max *t5*[2*(

[0077] t5) 2 +3*t5*t6+(t6) 2 ].

[0078] For example, whether a uniform speed interval is needed is determined based on the acceleration interval, the deceleration interval, and the length of the motion trajectory. For example, the relationship between the sum of the distance S1 and the distance S2 and the length of the motion trajectory (i.e., the distance that the mover needs to move between the first station and the second station) is determined. If the sum of the distance S1 and the distance S2 is less than the length of the motion trajectory, a uniform speed interval is needed; if the sum of the distance S1 and the distance S2 is equal to the length of the motion trajectory, a uniform speed interval is not needed; if the sum of the distance S1 and the distance S2 is greater than the length of the motion trajectory, at least one of the acceleration interval and the deceleration interval is re-determined, for example, the distances of the acceleration interval and the deceleration interval are adjusted until the sum of the distance S1 and the distance S2 is less than or equal to the length of the motion trajectory.

[0079] For example, if a uniform speed interval is required, the time and distance of the uniform speed interval can be calculated. Figure 3As shown, the uniform speed interval is the interval in which the speed is from v3 to v4 (v3=v4), the acceleration remains at 0, and the moving distance changes from s3 to s4.

[0080] For example, in some embodiments, the method for planning the motion of the moving element in the conveying system may further include: calculating the time T3 of the uniform speed interval according to the difference between the sum of the distance S1 and the distance S2 and the length of the motion trajectory. Assume that the length of the motion trajectory is S T ,but:

[0081] The moving distance in the uniform speed interval S3 = S T -S1-S2,

[0082] Time of uniform speed interval: T3=S3 / |v7-v st |.

[0083] For example, in some embodiments, when there are requirements for the conveying time of the mover in the motion trajectory, the mover motion planning method in the conveying system may also include: when a uniform speed interval is not required, calculating the sum of time T1 and time T2, and comparing the sum of time T1 and time T2 with the target time T (that is, the time the customer or designer wants the mover to move from the first workstation to the second workstation) to obtain the time difference. If the time difference is greater than the deviation threshold (that is, the time deviation acceptable to the customer or designer), re-determining at least one of the acceleration interval and the deceleration interval to reduce the time deviation; if the time difference is less than the deviation threshold, the current plan meets the requirements.

[0084] Alternatively, in other embodiments, when the uniform speed interval is required, the sum of time T1, time T2 and time T3 is calculated, and the sum of time T1, time T2 and time T3 is compared with the target time T to obtain the time difference. If the time difference is greater than the deviation threshold, at least one of the acceleration interval and the deceleration interval is re-determined to reduce the time deviation; if the time difference is less than the deviation threshold, the current plan meets the requirements.

[0085] Therefore, through the above steps, the following plan is made: Figure 3 The motion parameters shown can be applied to each mover so that the motion parameters of each mover are the same. When multiple movers move from the first station to the second station in sequence, the interval time between adjacent movers in the multiple movers starting from the starting point of the motion trajectory can be determined according to the safety distance and the motion parameters, so that the multiple movers can move from the first station to the second station in sequence in a uniform manner according to the planned motion parameters with the safety distance as the interval; similarly, the movement of multiple movers from the second station to the third station, and from the third station to the fourth station, etc. can all be planned in the above manner. As a result, multiple movers can move in sequence in a uniform manner with the safety distance as the interval during the entire transportation process.

[0086] For example, in other embodiments, the motion parameters of multiple movers may be designed based on other parameters according to customer requirements.

[0087] For example, designing the motion parameters of multiple movers may include: determining the target time T for multiple movers to move on the motion trajectory, and determining the motion intervals of the multiple movers in combination with the length of the motion trajectory, for example, in combination with the maximum motion speed and maximum acceleration of the movers on the stator track, wherein the motion interval includes at least one of an acceleration interval, a uniform speed interval, and a deceleration interval. For the specific design method of the motion interval, reference may be made to the above embodiment, which will not be repeated here.

[0088] For example, in other embodiments, the motion parameters of multiple movers can also be designed according to the time interval (i.e., beat) for adjacent movers to reach the end point of the motion trajectory. The process includes, for example: determining the time interval for adjacent movers among the multiple movers to reach the end point of the motion trajectory (the time interval is, for example, given by the customer), and combining the length of the motion trajectory, for example, combining the maximum motion speed and maximum acceleration of the movers on the stator track, to determine the motion interval of the multiple movers, wherein the motion interval includes at least one of an acceleration interval, a uniform speed interval, and a deceleration interval. For the specific design method of the motion interval, reference can be made to the above embodiment, which will not be repeated here.

[0089] For example, Figure 4 and Figure 5 The following diagrams respectively show the change of the motion positions of the multiple movers over time and the change of the motion speeds of the multiple movers over time after the motion parameters of the multiple movers are planned by the motion planning method of the mover in the conveying system provided by the embodiment of the present disclosure. Figure 4 As shown in , after unified motion planning of multiple movers, the relative distances between the multiple movers are stable; Figure 5 As shown, after unified motion planning is performed on multiple movers, the speed curves of the multiple movers are smoother, and the relative speeds between the multiple movers are stable, so that the relative distances are more stable.

[0090] Therefore, in the embodiments of the present disclosure, by uniformly planning the motion parameters of multiple movers, such as acceleration changes, speed changes, and position changes, the multiple movers do not need to interact with the system, and each mover is in an independent motion state. The multiple movers always move according to the uniformly set motion parameters, thereby making the motion of the multiple movers uniform, saving the buffer time of the mover anti-collision design under the asynchronous control state, and greatly improving work efficiency; on the other hand, the same motion parameters of multiple movers can reduce the vibration of the conveyor line, which can effectively reduce mechanical wear, noise, heat and other problems, and improve the stability of the system.

[0091] At least one embodiment of the present disclosure further provides a delivery system, referring to Figure 1 The conveying system includes a stator track 102, a plurality of movers 101, a storage device and a controller.

[0092] The stator track 102 includes a coil, which is arranged inside the stator track 102, not shown in the figure. For example, the stator track 102 also includes structures such as a guide rail, a position monitoring circuit and a drive circuit. For example, the guide rail can cooperate with multiple movers 101 to define the moving trajectories of the multiple movers 101. The position monitoring circuit can interact with the position beacon (described later) of the mover 101 to monitor the moving position of the mover 101. The drive circuit can be controlled (for example, controlled by a controller) to adjust the current supplied to the coil, thereby controlling the size of the alternating magnetic field generated, and then controlling the size of the driving force supplied to the mover 101.

[0093] For example, in some embodiments, the stator track 102 is annular, such as a closed ring such as a circle, a racetrack, or a rectangle. Figure 1 A racetrack-shaped stator track 102 is shown in FIG. 1 as an example.

[0094] A plurality of movers 101 are arranged on the stator track, each of the plurality of movers includes a magnetic plate, and is configured to move under the action of the alternating magnetic field generated after the coil is energized, so that when the coil of the stator track 102 is energized, the mover 101 is driven to move along the stator track 102 through the interaction between the coil and the magnetic plate. For example, each mover 101 may also include a roller or a slider and a position beacon. The roller or the slider cooperates with the guide rail of the stator track 102 to enable the mover 101 to move on the guide rail. The position beacon is configured to respond to the magnetic field signal of the position monitoring circuit to determine the position of the mover 101, so as to provide real-time feedback on the operating status of the mover 101.

[0095] The memory is configured to store motion parameters of multiple movers, wherein the motion parameters of the multiple movers are the same. For example, these parameters are obtained by planning the mover motion planning method in the conveying system provided by the embodiment of the present disclosure.

[0096] The controller is configured to control the plurality of movers to move according to motion parameters, wherein the motion parameters include at least one of an acceleration variation law, a velocity variation law, and a position variation law of the movers.

[0097] For example, in some embodiments, the memory is also configured to store the relationship between the motion parameters of the multiple movers and the magnitude of the current of the coil, and the controller is configured to control the magnitude of the current provided to the coil, for example, by controlling the magnitude of the current provided to the coil through a driving circuit, thereby controlling the multiple movers to move according to the motion parameters.

[0098] For example, in some examples, the controller may be a central processing unit (CPU), a network processor (NP), etc., or may be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The central processing unit (CPU) may be an X86 or ARM architecture, etc.

[0099] For example, the memory may include any combination of one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, erasable programmable read-only memory (EPROM), portable compact disk read-only memory (CD-ROM), USB memory, flash memory, etc. One or more computer-executable instructions may be stored on the computer-readable storage medium, and the controller may execute the computer-executable instructions to implement the corresponding functions.

[0100] For example, in some embodiments, Figure 1 As shown, the conveying system may further include a power supply, such as a DC filter power supply, for supplying power to the coils of the stator rail 102. For example, the DC filter power supply may filter and convert 220V AC power into 48V or 60V DC power.

[0101] For example, in some embodiments, Figure 1 As shown, the conveying system may further include an IO module, which is configured to convert the user's IO signal and transmit it to the controller. For example, the IO may access underlying signals such as "start", "hold", and "stop", and these signals may be in the form of high and low levels, so that the conveying system is controlled by the user.

[0102] Therefore, in the conveying system provided by the embodiment of the present disclosure, all movers can always move in a uniform pattern, that is, in the process of multiple movers moving from one workstation to another in sequence, their motion parameters are the same, for example, the motion range adopted is the same, thereby making the relative positions between the multiple movers basically fixed. At this time, the spacing between the movers can be further compressed, for example, only retaining a safe distance, so that work output and work efficiency can be further improved.

[0103] At least one embodiment of the present disclosure further provides a non-transitory computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the method for planning the motion of a mover in a conveying system provided in an embodiment of the present disclosure is implemented.

[0104] For example, the storage medium includes the above-mentioned memory. One or more computer executable instructions can be non-temporarily stored on the memory. For example, when the computer executable instructions are executed by the controller, one or more steps in the method for planning the motion of the mover in the conveying system provided in accordance with the embodiment of the present disclosure can be executed.

[0105] For example, the description of the storage medium may refer to the description of the memory in the above embodiment, and the repeated parts will not be repeated.

[0106] There are a few points to note:

[0107] (1) The drawings of the embodiments of the present disclosure only relate to the structures related to the embodiments of the present disclosure, and other structures may refer to the general design.

[0108] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present disclosure, the thickness of layers or regions is enlarged or reduced, that is, these drawings are not drawn according to the actual scale.

[0109] (3) In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to obtain new embodiments.

[0110] The above are only specific implementations of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and the protection scope of the present disclosure shall be based on the protection scope of the claims.

Claims

1. A method for planning the motion of a mover in a conveying system, wherein: The conveying system includes a plurality of movers, and the method includes: Determine the number and movement trajectory of the plurality of movers, and Designing motion parameters of the plurality of movers, and designing the motion parameters of the plurality of movers to be the same, The motion parameters include at least one of the acceleration change law, the velocity change law and the position change law of the mover.

2. The method according to claim 1, wherein: Designing motion parameters of the plurality of movers includes: Determine the starting speed and the ending speed of the plurality of movers, and Determine the motion range of the plurality of movers in combination with the length of the motion trajectory. The motion interval includes at least one of an acceleration interval, a uniform speed interval and a deceleration interval.

3. The method according to claim 2, wherein: Determining the motion ranges of the plurality of movers includes: determining the acceleration intervals of the plurality of movers, determining a deceleration interval of the plurality of movers, and Whether a uniform speed interval is required is determined according to the acceleration interval, the deceleration interval, and the length of the motion trajectory.

4. The method according to claim 3, wherein: Determining the acceleration ranges of the plurality of movers includes: Determine the maximum speed V of the plurality of movers max , Determine the maximum acceleration a of the plurality of movers max ,as well as The time T1 and distance S1 of the acceleration interval are calculated.

5. The method according to claim 4, wherein: The acceleration interval includes at least one of a jerking acceleration interval, a uniform acceleration interval, and a decelerating acceleration interval.

6. The method according to claim 4 or 5, wherein: Determining the deceleration intervals of the plurality of movers includes: Determine the maximum deceleration d of the plurality of movers max ,as well as The time T2 and distance S2 of the deceleration interval are calculated.

7. The method according to claim 6, wherein: The deceleration interval includes at least one of an acceleration / deceleration interval, a constant deceleration interval, and a deceleration / deceleration interval.

8. The method according to claim 6, wherein: Judging whether a uniform speed interval is required according to the acceleration interval, the deceleration interval, and the length of the motion trajectory includes: Determine the relationship between the sum of the distance S1 and the distance S2 and the length of the motion trajectory, If the sum of the distance S1 and the distance S2 is less than the length of the motion trajectory, a uniform speed interval is required; If the sum of the distance S1 and the distance S2 is equal to the length of the motion trajectory, then a uniform speed interval is not required; If the sum of the distance S1 and the distance S2 is greater than the length of the motion trajectory, at least one of the acceleration interval and the deceleration interval is re-determined.

9. The method according to claim 8, further comprising: The time T3 of the uniform speed interval is calculated according to the difference between the sum of the distance S1 and the distance S2 and the length of the motion trajectory.

10. The method according to claim 9, further comprising: When the uniform speed interval is not needed, the sum of the time T1 and the time T2 is calculated, and the sum of the time T1 and the time T2 is compared with the target time T to obtain a time difference, and if the time difference is greater than a deviation threshold, at least one of the acceleration interval and the deceleration interval is re-determined; or, When the uniform speed interval is needed, the sum of the time T1, the time T2 and the time T3 is calculated, and the sum of the time T1, the time T2 and the time T3 is compared with the target time T to obtain the time difference. If the time difference is greater than the deviation threshold, at least one of the acceleration interval and the deceleration interval is re-determined.

11. The method according to claim 1, wherein: Designing motion parameters of the plurality of movers includes: Determine a target time T for the plurality of movers to move on the motion trajectory, and Determine the motion range of the plurality of movers in combination with the length of the motion trajectory. The motion interval includes at least one of an acceleration interval, a uniform speed interval and a deceleration interval.

12. The method according to claim 1, wherein: Designing motion parameters of the plurality of movers includes: determining a time interval between adjacent movers among the plurality of movers reaching an end point of the motion trajectory, and Determine the motion range of the plurality of movers in combination with the length of the motion trajectory. The motion interval includes at least one of an acceleration interval, a uniform speed interval and a deceleration interval.

13. The method according to claim 1, further comprising: determining a safe distance between adjacent movers among the plurality of movers, and According to the safety distance and the motion parameter, the interval time between adjacent movers among the plurality of movers starting from the starting point of the motion trajectory is determined.

14. A conveying system comprising: stator track, including coils, A plurality of movers are arranged on the stator track, wherein each of the plurality of movers comprises a magnetic plate and is configured to move under the action of a magnetic field generated after the coil is energized, a memory configured to store motion parameters of the plurality of movers, wherein the motion parameters of the plurality of movers are the same, a controller configured to control the plurality of movers to move according to the motion parameters, The motion parameters include at least one of the acceleration change law, the speed change law and the position change law of the mover.

15. The delivery system according to claim 14, wherein: The memory is further configured to store the relationship between the motion parameters of the plurality of movers and the magnitude of the current of the coil, The controller is configured to control the magnitude of the current provided to the coil, thereby controlling the plurality of movers to move according to the motion parameters.

16. The delivery system according to claim 14 or 15, wherein: The stator track is annular.

17. A non-transitory computer-readable storage medium, wherein: The non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the method for planning the motion of a mover in a conveying system according to any one of claims 1 to 12 is implemented.

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