Rotor operation control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a rotor operation control method and device, electronic equipment and a storage medium, and the method comprises the steps: firstly, obtaining initial planning operation data of a target rotor, and the initial planning operation data comprises acceleration stage operation data and uniform speed stage operation data; then, acquiring a speed adjustment coefficient, and generating deceleration stage operation data based on the speed adjustment coefficient and the acceleration stage operation data; and finally, planning operation data is generated based on the deceleration stage operation data and the initial planning operation data, and operation control is performed on the target rotor based on the planning operation data, so that the operation control flexibility of the rotor is improved. And the generated operation control data can meet the operation requirements of different workpieces by utilizing an adjustable speed adjustment coefficient, so that the reliability of rotor operation control is improved.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a mover operation control method, device, electronic device and storage medium. Background Art

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

[0003] In the prior art, before transporting multiple movers on a maglev conveyor track, appropriate operation planning parameters are usually planned for each mover in advance based on the initial speed, initial position and target position of each mover, combined with the operation parameters of the mover itself. However, in the actual operation of the mover, different workpieces carried on the mover usually correspond to different acceleration and deceleration requirements. Therefore, when the original operation planning parameters are used to control the operation of the mover, the flexibility of its motion control is low, which makes it impossible to meet the operation requirements of the workpiece. Summary of the invention

[0004] The embodiments of the present application provide a mover operation control method, device, electronic device and storage medium, which can improve the operation control flexibility of the mover when the mover transports a workpiece.

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

[0006] Acquiring initial planned operation data of the target mover, wherein the initial planned operation data includes acceleration phase operation data and uniform speed phase operation data;

[0007] Acquire a speed adjustment coefficient, and generate deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data;

[0008] The planned operation data are generated based on the deceleration phase operation data and the initial planned operation data, and the operation of the target mover is controlled based on the planned operation data.

[0009] In some embodiments, the obtaining of initial planned operation data of the target mover includes:

[0010] Get acceleration time and uniform velocity time;

[0011] Generate the acceleration phase operation data based on the acceleration time and the speed parameter of the target mover;

[0012] The uniform speed phase operation data is generated based on the uniform speed time and the acceleration phase operation data.

[0013] In some embodiments, the speed parameter includes a maximum acceleration, the acceleration time includes a variable acceleration time and a uniform acceleration time, the acceleration phase operation data includes acceleration operation data, uniform acceleration operation data, and deceleration operation data, and the generating of the acceleration phase operation data based on the acceleration time and the speed parameter of the target mover includes:

[0014] obtaining a first speed curve based on the product of the variable acceleration time and the maximum acceleration, obtaining a first position curve based on the integration of the first speed curve, and generating the acceleration operation data based on the first speed curve, the first position curve and the variable acceleration time;

[0015] The uniform acceleration operation data and the deceleration operation data are obtained based on the variable acceleration time, the uniform acceleration time and the maximum acceleration.

[0016] In some embodiments, obtaining the uniform acceleration operation data and the deceleration operation data based on the variable acceleration time, the uniform acceleration time and the maximum acceleration includes:

[0017] Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration, a second speed curve is obtained;

[0018] Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration and the variable acceleration time, a second position curve is obtained;

[0019] A third speed curve is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration;

[0020] Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration and the variable acceleration time, a third position curve is obtained;

[0021] The uniform acceleration operation data is obtained based on the second speed curve, the second position curve and the variable acceleration time, and the deceleration operation data is obtained based on the third speed curve, the third position curve and the variable acceleration time.

[0022] In some embodiments, the deceleration phase operation data includes acceleration and deceleration operation data, uniform deceleration operation data, and deceleration and deceleration operation data, and the generating of the deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data includes:

[0023] Obtaining a variable deceleration time based on the product of the speed adjustment coefficient and the variable acceleration time;

[0024] Obtaining a uniform deceleration time based on the product of the speed adjustment coefficient and the uniform acceleration time;

[0025] The acceleration / deceleration operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the variable deceleration time;

[0026] The uniform deceleration operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the uniform deceleration time;

[0027] The deceleration and reduction operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the variable deceleration time.

[0028] In some embodiments, the speed adjustment coefficient includes an adjustment parameter and an adjustment index, the adjustment index is the square of the adjustment base, and the acceleration / deceleration operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient, and the variable deceleration time, including:

[0029] Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration, a first speed term is obtained;

[0030] Based on the square of the adjustment index, the maximum acceleration and the variable acceleration time are cumulatively multiplied, and then divided by the adjustment parameter to obtain a second speed term, and based on the difference between the first speed term and the second speed term, a fourth speed curve is obtained;

[0031] Multiplying the first speed term, the adjustment index and the variable acceleration time to obtain a first position term;

[0032] Multiplying the second speed term, the variable acceleration time and the adjustment index to obtain a second position term, and obtaining a fourth position curve based on a difference between the first position term and the second position term;

[0033] The acceleration / deceleration operation data is obtained based on the fourth speed curve, the fourth position curve and the variable / deceleration time.

[0034] In some embodiments, the adjustment index is the square of the adjustment base, and the uniform deceleration operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient, and the uniform deceleration time, including:

[0035] A first adjustment time item is obtained based on the square of the adjustment index multiplied by the uniform acceleration time, a second adjustment time item is obtained based on the square of the adjustment index multiplied by the variable acceleration time, and a third speed item is obtained based on the sum of the first adjustment time item and the second adjustment time item divided by the adjustment parameter;

[0036] Based on the sum of the variable acceleration time and the uniform acceleration time, the third speed term is subtracted and multiplied by the maximum acceleration to obtain a fifth speed curve;

[0037] A third adjustment time item is obtained based on the product of the first adjustment time item and the adjustment index, and a third position item is obtained based on the sum of the third adjustment time item and the second adjustment time item and divided by the adjustment parameter;

[0038] Based on the sum of the variable acceleration time and the uniform acceleration time, the difference of the third position item is subtracted, and the sum is multiplied by the maximum acceleration, the adjustment index and the uniform acceleration time to obtain a fifth position curve;

[0039] The uniform deceleration operation data is obtained based on the fifth speed curve, the fifth position curve and the uniform acceleration time.

[0040] In some embodiments, the speed adjustment coefficient includes an adjustment parameter and an adjustment index, the adjustment index is the square of the adjustment base, and the deceleration operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient, and the variable deceleration time, including:

[0041] A fourth speed term is obtained based on a sum of the variable acceleration time and the uniform acceleration time, multiplied by the square of the adjustment index and the maximum acceleration, and then divided by the adjustment parameter, and a sixth speed curve is obtained based on a difference between the first speed term and the fourth speed term;

[0042] Multiply the second speed term, the uniform acceleration time and the adjustment index to obtain a fourth position term;

[0043] Multiplying the first speed term, the adjustment index and the variable acceleration time to obtain a fifth position term;

[0044] Based on the difference between the fifth position item and the second position item, the fourth position item is subtracted to obtain a sixth position curve;

[0045] The deceleration and reduction operation data is obtained based on the sixth speed curve, the sixth position curve and the variable acceleration time.

[0046] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a mover operation control device, the device comprising:

[0047] An acceleration and uniform speed data acquisition module is used to acquire initial planned operation data of the target mover, wherein the initial planned operation data includes acceleration phase operation data and uniform speed phase operation data;

[0048] A deceleration data generating module, used for acquiring a speed adjustment coefficient, and generating deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data;

[0049] An operation control module is used to generate planned operation data based on the deceleration phase operation data and the initial planned operation data, and to perform operation control on the target mover based on the planned operation data.

[0050] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and the processor implements the mover operation control method described in the first aspect when executing the computer program.

[0051] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, the mover operation control method described in the first aspect is implemented.

[0052] The embodiment of the present application proposes a method, device, electronic device and storage medium for controlling the operation of a mover, and the method includes: first, obtaining the initial planned operation data of the target mover, the initial planned operation data including acceleration phase operation data and uniform speed phase operation data; then, obtaining a speed adjustment coefficient, and generating deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data; finally, generating planned operation data based on the deceleration phase operation data and the initial planned operation data, and controlling the operation of the target mover based on the planned operation data. The embodiment of the present application is aimed at a target mover carrying a workpiece, and the acceleration phase operation data and uniform speed phase operation data of the first half are pre-planned for the target mover, and then the speed adjustment system is combined to flexibly generate the deceleration phase operation speed of the second half, avoiding the situation where the acceleration phase operation speed and the deceleration phase operation data are symmetrical, so as to improve the flexibility of the operation control of the mover, and the adjustable speed adjustment coefficient is used so that the generated operation control data can meet the operation requirements of different workpieces, thereby improving the reliability of the operation control of the mover.

[0053] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram of a magnetic levitation conveying system provided in one embodiment of the present application.

[0055] Figure 2 This is a flow chart of a mover operation control method provided in yet another embodiment of the present application.

[0056] Figure 3 yes Figure 2 Flow chart of step 201 in FIG.

[0057] Figure 4 yes Figure 3 Flow chart of step 302 in FIG.

[0058] Figure 5 yes Figure 4 Flowchart of step 402 in FIG.

[0059] Figure 6 This is a schematic diagram of an acceleration curve of initial planned operation data provided by another embodiment of the present application.

[0060] Figure 7 yes Figure 2 Flow chart of step 202 in FIG.

[0061] Figure 8yes Figure 7 Flowchart of step 703 in FIG.

[0062] Fig. 9 yes Figure 7 Flowchart of step 704 in FIG.

[0063] Fig.10 yes Figure 7 Flowchart of step 705 in FIG.

[0064] Fig.11 This is a schematic diagram of an acceleration curve of planned operation data provided by another embodiment of the present application.

[0065] Fig.12 This is a schematic diagram of an acceleration curve of planned operation data provided by another embodiment of the present application.

[0066] Fig.13 It is a structural schematic diagram of a mover operation control device provided in one embodiment of the present application.

[0067] Fig.14 It is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0069] It should be noted that although the functional modules are divided in the device schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

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

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

[0072] In the prior art, before transporting multiple movers on a maglev conveyor track, appropriate operation planning parameters are usually planned for each mover in advance based on the initial speed, initial position and target position of each mover, combined with the operation parameters of the mover itself. However, in the actual operation of the mover, different workpieces carried on the mover usually correspond to different acceleration and deceleration requirements. Therefore, when the original operation planning parameters are used to control the operation of the mover, the flexibility of its motion control is low, which makes it impossible to meet the operation requirements of the workpiece.

[0073] In order to improve the flexibility of the operation control of the mover when the mover transports the workpiece, the embodiment of the present application plans the acceleration phase operation data and the uniform speed phase operation data of the first half for the target mover carrying the workpiece in advance, and then combines the speed adjustment system to flexibly generate the deceleration phase operation speed of the second half, avoiding the symmetry of the acceleration phase operation speed and the deceleration phase operation data, so as to improve the flexibility of the operation control of the mover, and utilizes the adjustable speed adjustment coefficient so that the generated operation control data can meet the operation requirements of different workpieces, thereby improving the reliability of the mover operation control.

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

[0075] Based on the above-mentioned magnetic levitation conveyor track, the mover operation control method in the embodiment of the present application will be described in detail below. Figure 2 , which is an optional flow chart of the mover operation control method provided in the embodiment of the present application, Figure 2 The method in the embodiment may include but is not limited to steps 201 to 203. Figure 2 The order of step 201 to step 203 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs. The mover operation control method provided in the embodiment of the present application can be applied to intelligent terminals, servers, computers, etc. connected to the magnetic levitation conveying system.

[0076] Step 201: Acquire initial planning operation data of the target mover.

[0077] Step 201 is described in detail below.

[0078] In some embodiments, in order to meet the operating requirements of a target mover carrying a workpiece in a magnetic levitation conveying system, it is necessary to pre-acquire initial planned operating data planned for the target mover, so as to flexibly generate planned operating data that meets the operating requirements of the workpiece based on the initial planned operating data, wherein the initial planned operating data includes acceleration phase operating data and uniform speed phase operating data of the target mover. How to generate the initial planned operating data will be further described below.

[0079] Reference Figure 3 , obtaining the initial planning operation data of the target mover, including the following steps 301 to 303.

[0080] Step 301: Obtain acceleration time and uniform velocity time.

[0081] Step 302: Generate acceleration phase operation data based on the acceleration time and the speed parameter of the mover.

[0082] Steps 301 to 302 are described in detail below.

[0083] In some embodiments, in order to generate appropriate initial operation planning data, first obtain the acceleration time for generating the acceleration phase operation data and the uniform speed time for generating the uniform speed phase transportation data. It can be understood that since different types of workpieces have corresponding operation requirements, they include the acceleration time length range, the deceleration time length range, the maximum acceleration size and the maximum speed requirements, etc. Therefore, the acceleration time and uniform speed time obtained in this embodiment are obtained based on the operation requirements of the workpiece, that is, the acceleration time is within the acceleration time length range, and the uniform speed time is based on the speed requirements required for the mover to start from the starting position and run to the target position. The starting position can be the position on the magnetic levitation conveyor track corresponding to a processing device, and the target position can be the position on the magnetic levitation conveyor track corresponding to the next processing device.

[0084] In addition, the acceleration time and the uniform velocity time may also be obtained from historical experience according to the type of workpiece, that is, directly obtained values.

[0085] Generally speaking, the acceleration phase includes the jerk phase, the uniform acceleration phase, and the deceleration phase. Conversely, the acceleration time includes the variable acceleration time t corresponding to the jerk phase and the deceleration phase. s =|t 1 -t 0 |=|t 3 -t 2 | and the uniform acceleration time t corresponding to the uniform acceleration stage a =|t 2 -t1 |, where t 0 is the time corresponding to the starting moment; t 1 is the time corresponding to the end of the jerk phase and the beginning of the uniform acceleration phase; t 2 is the time corresponding to the end of the uniform acceleration phase and the beginning of the deceleration phase; t 3 It is the time corresponding to the end of the deceleration phase and also the time corresponding to the beginning of the uniform speed phase.

[0086] In addition, the uniform velocity time is t b =|t 4 -t 3 |,t 4 It is the time corresponding to the end of the uniform speed phase and the time corresponding to the beginning of the deceleration phase.

[0087] Next, the acceleration phase operation data is further generated based on the acceleration time and the speed parameters of the mover, where the speed parameters of the mover include the maximum acceleration A max , where the maximum acceleration A max The minimum value between the maximum acceleration value that the target mover can achieve and the maximum acceleration value that the workpiece can withstand. The following will further describe in detail how to generate the acceleration phase operation data.

[0088] Reference Figure 4 , generating acceleration phase operation data based on acceleration time and speed parameters of the mover, including the following steps 401 to 402.

[0089] Step 401: obtaining a first speed curve based on the product of the variable acceleration time and the maximum acceleration, obtaining a first position curve based on the integration of the first speed curve, and generating acceleration operation data based on the first speed curve, the first position curve and the variable acceleration time.

[0090] Step 402: Based on the variable acceleration time, the uniform acceleration time and the maximum acceleration, uniform acceleration operation data and deceleration operation data are obtained.

[0091] Steps 401 to 402 are described in detail below.

[0092] For the acceleration stage, first based on the acceleration time t s =|t 1 -t 0 | and maximum acceleration A max The product of t and divided by 2 can be obtained to obtain the velocity value at the end of the jerk phase as shown in the following formula (1), and the jerk time t s As the time parameter t, a first speed curve corresponding to the jerk phase can be generated.

[0093]

[0094] Next, based on the integration of the first velocity curve, the first position curve corresponding to the jerk stage is obtained as shown in the following formula (2).

[0095]

[0096] Then based on the first speed curve (1), the first position curve (2) and the variable acceleration time t s =|t 1 -t 0 |Generate jerk operation data for the jerk phase.

[0097] After that, we further change the acceleration time t s =|t 3 -t 2 |, uniform acceleration time t a =|t 2 -t 1 | and the maximum acceleration A max , and obtain the uniform acceleration operation data corresponding to the uniform acceleration stage and the deceleration operation data corresponding to the deceleration stage, which will be further described in detail below.

[0098] Reference Figure 5 Based on the variable acceleration time, the uniform acceleration time and the maximum acceleration, uniform acceleration operation data and deceleration operation data are obtained, including the following steps 501 to 505.

[0099] Step 501: Based on the sum of the variable acceleration time and the uniform acceleration time, multiplied by the maximum acceleration, a second speed curve is obtained.

[0100] Step 502: Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying the maximum acceleration and the variable acceleration time, a second position curve is obtained.

[0101] Step 503: Based on the sum of the variable acceleration time and the uniform acceleration time, multiplied by the maximum acceleration, a third speed curve is obtained.

[0102] Step 504: Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration and the variable acceleration time, a third position curve is obtained.

[0103] Step 505: Based on the second speed curve, the second position curve and the variable acceleration time, uniform acceleration operation data is obtained, and based on the third speed curve, the third position curve and the variable acceleration time, deceleration operation data is obtained.

[0104] Steps 501 to 505 are described in detail below.

[0105] For the uniform acceleration stage, firstly based on half of the variable acceleration time t s / 2 and uniform acceleration time t a The sum of the acceleration and multiply it by the maximum acceleration A max The velocity value at the end of the uniform acceleration stage is shown in the following formula (3), and the uniform acceleration time t a =|t 2 -t 1 | As the time parameter t, the second velocity curve corresponding to the uniform acceleration stage can be generated as shown in the following formula (3).

[0106]

[0107] Afterwards, the second speed curve is integrated, that is, based on the variable acceleration time t s and uniform acceleration time t a The sum of the values ​​and multiplying by the maximum acceleration A max And variable acceleration time t s , and then divided by two, the position value at the end of the uniform acceleration stage is obtained as shown in the following formula (4), and the uniform acceleration time t a =|t 2 -t 1 | As the time parameter t, the second position curve corresponding to the uniform acceleration stage can be generated as shown in the following formula (4).

[0108]

[0109] Then, based on the second speed curve (3), the second position curve (4) and the uniform acceleration time t a =|t 2 -t 1 |Generate uniform acceleration running data in the uniform acceleration stage.

[0110] For the deceleration stage, based on the variable acceleration time t s and uniform acceleration time t a The sum of the acceleration and multiply it by the maximum acceleration A max The speed value at the end of the deceleration phase is obtained as shown in the following formula (5), and the acceleration time t s =|t 3 -t 2 | As the time parameter t, the third speed curve corresponding to the deceleration stage can be generated as shown in the following formula (5).

[0111]

[0112] Further, based on the five-sixths variable acceleration time t sand uniform acceleration time t a The sum of the values ​​and multiplying by the maximum acceleration A max And variable acceleration time t s The position value at the end of the deceleration phase is obtained as shown in the following formula (6), and the acceleration time t s =|t 3 -t 2 | As the time parameter t, the third position curve corresponding to the deceleration stage can be generated as shown in the following formula (6).

[0113]

[0114] Then, based on the third speed curve (5), the third position curve (6) and the variable acceleration time t s =|t 3 -t 2 |Generate deceleration operation data in the deceleration phase.

[0115] Step 303: Generate uniform speed phase operation data based on uniform speed time and acceleration phase operation data.

[0116] Steps 301 to 303 are described in detail below.

[0117] For the uniform speed operation stage, since the running speed of the planned mover in this stage is uniform and constant, the uniform speed curve corresponding to the uniform speed operation stage can be obtained based on the speed value at the end of the deceleration stage in the acceleration stage as shown in the following formula (7).

[0118]

[0119] Furthermore, combined with the uniform velocity time t b =|t 4 -t 3 | and the uniform speed curve (7) can be used to obtain the uniform speed position curve corresponding to the uniform speed operation stage as shown in the following formula (8).

[0120] P 4 =∫V 4 dt=A max (t a +t s )t v (8)

[0121] Then based on the uniform velocity curve (7) and uniform velocity position curve (8) and uniform velocity time t b =|t 4 -t 3 |The uniform speed phase operation data of the uniform speed phase can be obtained.

[0122] Reference Figure 6 , is a schematic diagram of an acceleration curve of initial planning operation data provided by an embodiment of the present application. Based on the acceleration time, uniform speed time and maximum acceleration obtained according to the operation requirements of the workpiece and the mover, the acceleration phase operation data consisting of three small stages of jerk, uniform acceleration and deceleration and the uniform speed phase operation data of the uniform speed operation stage are generated, and the corresponding acceleration curves are shown in 6. In addition, it can be understood that the variable accelerations corresponding to the above-mentioned jerk phase and deceleration phase are equal, that is, t s =|t 1 -t 0 |=|t 3 -t 2 |, so the acceleration curve corresponding to the jerk stage and the acceleration curve corresponding to the deceleration stage are symmetrical; in practical applications, the variable accelerations corresponding to the jerk stage and the deceleration stage may not be equal, that is, |t 1 -t 0 |≠|t 3 -t 2 |, can be determined based on the actual workpiece operation requirements and the processing speed requirements of the processing equipment.

[0123] Through the above steps 301 to 303, 401 to 402, and 501 to 505, the acceleration time, uniform speed time and maximum acceleration obtained based on the operation requirements of the workpiece and the operation parameters of the target mover are used for planning to obtain the acceleration phase operation data and uniform speed phase operation data of the target mover carrying the workpiece, so as to facilitate the subsequent use of the acceleration phase operation data and the uniform speed phase operation data to generate the planned operation data of the target mover and perform operation control on the target mover, thereby ensuring that the operation requirements of the workpiece are met, thereby improving the reliability of the mover operation control.

[0124] Step 202: Obtain a speed adjustment coefficient, and generate deceleration phase operation data based on the speed adjustment coefficient and acceleration phase operation data.

[0125] Step 202 is described in detail below.

[0126] In some embodiments, as mentioned above, different workpieces have different acceleration time ranges and deceleration time ranges, and the acceleration time ranges and deceleration time ranges may be different. If the pre-generated acceleration phase operation data is used to symmetrically generate the deceleration phase operation data, the operation requirements of the workpiece may not be met, thereby causing the workpiece to be damaged during the transportation process.

[0127] Based on this, in this embodiment, the speed adjustment coefficient is generated based on the ratio between the acceleration time length range and the deceleration time length range requirements corresponding to the workpiece carried by the target mover. The speed adjustment coefficient includes the adjustment parameter R x and the adjustment index R 2 , where the adjustment index R 2 To adjust the parameter R x The square of R 2 =R x 2 , which are all values ​​that can be directly obtained.

[0128] Next, the deceleration phase operation data that meets the operation requirements of the workpiece is generated based on the speed adjustment coefficient and the acceleration phase operation data, as described in detail below.

[0129] Reference Figure 7 , generating deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data, including the following steps 701 to 705.

[0130] Step 701: Obtain the variable deceleration time based on the product of the speed adjustment coefficient and the variable acceleration time.

[0131] Step 702: Obtain the uniform deceleration time based on the product of the speed adjustment coefficient and the uniform acceleration time.

[0132] Step 703: Obtain acceleration and deceleration operation data based on the maximum acceleration, variable acceleration time, uniform speed time, speed adjustment coefficient and variable deceleration time.

[0133] Steps 701 to 703 are described in detail below.

[0134] In some embodiments, after obtaining the adjustment parameter R x and the adjustment index R 2 Afterwards, based on the adjustment index R 2 And variable acceleration time t s The product of the acceleration and deceleration phase and the deceleration phase is obtained by the variable deceleration time R corresponding to the acceleration and deceleration phase of the deceleration phase. 2 t s =t ds =|t 5 -t 4 |=|t 7 -t 6 |, and the basis adjustment index R 2 Uniform acceleration time t a The product of the uniform deceleration time R 2 t a =t da =|t 6 -t 5 |. Where t4 is the time corresponding to the start of the acceleration and deceleration phase; t 5 is the time corresponding to the end of the acceleration / deceleration phase, and also the time corresponding to the beginning of the uniform deceleration phase; t 6 is the time corresponding to the end of the uniform deceleration phase and the time corresponding to the beginning of the deceleration phase; t 7 The time corresponding to the end of the deceleration phase.

[0135] It can be understood that the acceleration a during the deceleration phase dm It also changes to a dm =-A max R 2 / R x , and the corresponding jerk j dm It also changes to j dm =j m / R x , where j m is the jerk corresponding to the acceleration stage.

[0136] Next, we can further calculate the maximum acceleration A max , variable acceleration time t s , uniform speed time t a , speed adjustment coefficient (including adjustment parameter R x and the adjustment index R 2 ) and variable deceleration time R 2 t s =t ds =|t 5 -t 4 |=|t 7 -t 6 |The acceleration and deceleration operation data of the acceleration and deceleration stage are obtained, which will be further described below.

[0137] Reference Figure 8 , based on the maximum acceleration, variable acceleration time, uniform speed time, speed adjustment coefficient and variable deceleration time, the acceleration and deceleration operation data are obtained, including the following steps 801 to 805.

[0138] Step 801: Based on the sum of the variable acceleration time and the uniform acceleration time, multiplied by the maximum acceleration, a first velocity term is obtained.

[0139] Step 802: Based on the square of the adjustment index, multiply it by the maximum acceleration and the variable acceleration time, and then divide it by the adjustment parameter to obtain a second speed term, and based on the difference between the first speed term and the second speed term, obtain a fourth speed curve.

[0140] Step 803: Multiply the first speed term, the adjustment index and the variable acceleration time to obtain a first position term.

[0141] Step 804: Multiply the second speed term, the variable acceleration time and the adjustment index to obtain a second position term, and obtain a fourth position curve based on the difference between the first position term and the second position term.

[0142] Step 805: Based on the fourth speed curve, the fourth position curve and the variable deceleration time, the acceleration and deceleration operation data are obtained.

[0143] Steps 801 to 805 are described in detail below.

[0144] For the acceleration and deceleration stage, firstly based on the variable acceleration time t s and uniform acceleration time t a The sum of the acceleration and multiply it by the maximum acceleration A max , and get the first speed term A max (t a +t s ). Then, based on the adjustment index R 2 The square of the maximum acceleration A max And variable acceleration time t s , and then divided by twice the number of adjustment parameters 2R x , and get the second speed term A max t s R 2 2 / (2R x ), and based on the difference between the first speed term and the second speed term, the speed value at the end of the acceleration / deceleration stage is obtained as shown in the following formula (9), and the variable deceleration time R 2 t s =t ds =|t 5 -t 4 |As the time parameter t, the fourth speed curve corresponding to the acceleration and deceleration stage can be generated as shown in the following formula (9).

[0145]

[0146] Further, the first speed term A is multiplied max (t a +t s ), adjustment index R 2 And variable acceleration time t s , get the first position item A max R 2 t s (t a +t s ). Next, multiply the second speed term A max t s R 22 / (2R x ), variable acceleration time t s and the adjustment index R 2 , and then divided by three, we get the second position item A max t s2 R 23 / (6R x ). Then, based on the first position item A max R 2 t s (t a +t s ) and the second position item A max t s 2 R 2 3 / (6R x ) to obtain the position value at the end of the acceleration / deceleration stage as shown in the following formula (10), and the variable deceleration time R 2 t s =t ds =|t 5 -t 4 |As the time parameter t, the fourth position curve corresponding to the acceleration and deceleration stage can be generated as shown in the following formula (10).

[0147]

[0148] Then, based on the fourth speed curve (9), the fourth position curve (10) and the variable deceleration time R 2 t s =t ds =|t 5 -t 4 |Generate acceleration and deceleration operation data in the acceleration and deceleration phase.

[0149] Step 704: Obtain uniform deceleration operation data based on the maximum acceleration, variable acceleration time, uniform speed time, speed adjustment coefficient, and uniform deceleration time.

[0150] Step 704 is described in detail below.

[0151] For the uniform deceleration stage, the maximum acceleration A max , variable acceleration time t s , uniform speed time t a , speed adjustment coefficient (including adjustment parameter R x and the adjustment index R 2 ) and uniform deceleration time R 2 t a =t da =|t 6 -t 5|The uniform deceleration operation data corresponding to the uniform deceleration stage is obtained, as described below.

[0152] Reference Fig. 9 , based on the maximum acceleration, variable acceleration time, uniform speed time, speed adjustment coefficient and uniform deceleration time, uniform deceleration operation data is obtained, including the following steps 901 to 905.

[0153] Step 901: A first adjustment time item is obtained based on the square of the adjustment index multiplied by the uniform acceleration time, a second adjustment time item is obtained based on the square of the adjustment index multiplied by the variable acceleration time, and a third speed item is obtained based on the sum of the first adjustment time item and the second adjustment time item and divided by the adjustment parameter.

[0154] Step 902: Based on the sum of the variable acceleration time and the uniform acceleration time, the third speed term is subtracted and multiplied by the maximum acceleration to obtain a fifth speed curve.

[0155] Step 903: A third adjustment time item is obtained based on the product of the first adjustment time item and the adjustment index, and a third position item is obtained based on the sum of the third adjustment time item and the second adjustment time item and divided by the adjustment parameter.

[0156] Step 904: Based on the sum of the variable acceleration time and the uniform acceleration time, the difference of the third position term is subtracted and multiplied by the maximum acceleration, the adjustment index and the uniform acceleration time to obtain a fifth position curve.

[0157] Step 905: Obtain uniform deceleration operation data based on the fifth speed curve, the fifth position curve and the uniform acceleration time.

[0158] Steps 901 to 905 are described in detail below.

[0159] For the uniform deceleration stage, first, based on the adjustment index R 2 The square of the uniform acceleration time t a Get the first adjustment time term t a R 2 2 , based on the adjusted index R 2 The square of the variable acceleration time t s Get the second adjustment time term t s R 2 2 , and based on the first adjustment time term t a R 2 2 and half of the second adjustment time term t s R 2 2 / 2, and then divided by the adjustment parameter R x , we get the third speed term (ta R 2 2 +t s R 2 2 / 2) / R x .

[0160] Furthermore, based on the variable acceleration time t s and uniform acceleration time t a The sum of the speeds minus the third speed term (t a R 2 2 +t s R 2 2 / 2) / R x , and multiply by the maximum acceleration A max The speed value at the end of the uniform deceleration stage is shown in the following formula (11), and the uniform deceleration time R 2 t a =t da =|t 6 -t 5 |As the time parameter t, the fifth speed curve corresponding to the uniform deceleration stage can be generated as shown in the following formula (11).

[0161]

[0162] Then, based on the first adjustment time term t a R 2 2 and adjustment index R 2 The third adjustment time term t is obtained by multiplying a R 2 3 , and based on the third adjustment time term t a R 2 3 and the second adjustment time term t s R 2 2 The sum of the two, divided by twice the number of adjustment parameters 2R x , and get the third position term (t a R 2 3 +t s R 2 2 ) / (2R x ). After that, based on the variable acceleration time t s and uniform acceleration time t a The sum of the two, minus the third position term (t a R 2 3 +t sR 2 2 ) / (2R x ) and multiply it by the maximum acceleration A max , Adjustment index R 2 and uniform acceleration time t a The position value at the end of the uniform deceleration stage is obtained as shown in the following formula (12), and the uniform deceleration time R 2 t a =t da =|t 6 -t 5 |As the time parameter t, the fifth position curve corresponding to the uniform deceleration stage can be generated as shown in the following formula (12).

[0163]

[0164] In addition, during the uniform deceleration stage, the corresponding acceleration curve is shown in the following formula (13).

[0165]

[0166] Based on this, based on the fifth speed curve (11), the fifth position curve (12) and the uniform deceleration time R 2 t a =t da =|t 6 -t 5 |Generate uniform deceleration operation data in the uniform deceleration phase.

[0167] Step 705: Obtain deceleration and acceleration operation data based on the maximum acceleration, variable acceleration time, uniform speed time, speed adjustment coefficient, and variable deceleration time.

[0168] Step 705 is described in detail below.

[0169] For the deceleration stage, the maximum acceleration A max , variable acceleration time t s , uniform speed time t a , speed adjustment coefficient (including adjustment parameter R x and the adjustment index R 2 ) and variable deceleration time R 2 t s =t ds =|t 7 -t 6 |Get the deceleration operation data corresponding to the deceleration stage, as described below.

[0170] Reference Fig.10, based on the maximum acceleration, variable acceleration time, uniform speed time, speed adjustment coefficient and variable deceleration time, the deceleration operation data is obtained, including the following steps 1001 to 1005.

[0171] Step 1001: Based on the sum of the variable acceleration time and the uniform acceleration time, multiply by the square of the adjustment exponent and the maximum acceleration, and then divide by the adjustment parameter to obtain a fourth speed term, and based on the difference between the first speed term and the fourth speed term, obtain a sixth speed curve.

[0172] Step 1002: Multiply the second speed term, the uniform acceleration time, and the adjustment index to obtain a fourth position term.

[0173] Step 1003: Multiply the first speed term, the adjustment index and the variable acceleration time to obtain a fifth position term.

[0174] Step 1004: Based on the difference between the fifth position item and the second position item, the fourth position item is subtracted to obtain a sixth position curve.

[0175] Step 1005: Based on the sixth speed curve, the sixth position curve and the variable acceleration time, the deceleration operation data is obtained.

[0176] Steps 1001 to 1005 are described in detail below.

[0177] For the deceleration stage, first, based on the variable acceleration time t s and uniform acceleration time t a The sum of the total and multiply by the adjustment index R 2 The square of the maximum acceleration A max , and then divided by the adjustment parameter R x , and we get the fourth speed term A max R 2 2 (t a +t s ) / R x , and based on the first velocity term A max (t a +t s ) and the fourth speed term A max R 2 2 (t a +t s ) / R x The difference between the speed and the deceleration time R is obtained as shown in the following formula (14). 2 t s =t ds =|t 5 -t 4|As the time parameter t, the sixth speed curve corresponding to the deceleration stage can be generated as shown in the following formula (14).

[0178]

[0179] After that, multiply the second speed term A max t s R 2 2 / (2R x ), uniform acceleration time t a and the adjustment index R 2 , then multiply it by two to get the fourth position item A max t s t a R 2 3 / R x , and the first speed term A max (t a +t s ), adjustment index R 2 And variable acceleration time t s , get the fifth position item A max R 2 t s (t a +t s ), then based on the fifth position item A max R 2 t s (t a +t s ) and five times the number of second position items 5A max t s 2 R 2 3 / (6R x ), minus the fourth position term A max t s t a R 2 3 / R x The position value at the end of the deceleration phase is obtained as shown in the following formula (15), and the deceleration time R 2 t s =t ds =|t 7 -t 6 |As the time parameter t, the sixth position curve corresponding to the deceleration stage can be generated as shown in the following formula (15).

[0180]

[0181] Through the above steps 701 to 705, 801 to 805, 901 to 905, and 1001 to 1005, the adjustment parameters and adjustment indexes generated by the operation requirements of the workpiece, and the acceleration operation data are used to re-plan the deceleration phase operation data corresponding to the target mover carrying the workpiece in the deceleration phase, and the deceleration phase operation data is not symmetrical with the acceleration phase operation data, thereby improving the flexibility of generating the planned operation data of the target mover, and accurately ensuring that the operation requirements of the workpiece are met, so as to improve the flexibility and reliability of the mover operation control.

[0182] It can be understood that, for the acceleration and deceleration stage, the planned acceleration gradually becomes negative, thus starting to decelerate. x and the adjustment index R 2 The value of can control the rate of acceleration decrease and its curve shape. In this stage, increase the adjustment parameter R x When the acceleration decreases faster, it means that the acceleration in the deceleration stage decreases more sharply, and the target mover will reach a lower speed or stop in a shorter time. In this case, the deceleration process is faster, which is suitable for fast response systems, but it may also introduce greater impact and vibration to the workpiece; reduce the adjustment parameter R x When the acceleration decreases more slowly, the deceleration process of the target mover is smoother. This can reduce the impact and vibration of the workpiece and make the deceleration process more stable and smooth, but the required deceleration time is longer.

[0183] In the uniform deceleration phase, the acceleration of the target mover remains negative and continues to decelerate. The duration and acceleration of this phase are controlled by the adjustment parameter R x and the adjustment index R 2 Direct impact of R 2 =R x 2 , this relationship determines the time proportion of the deceleration phase. The larger adjustment parameter R x The deceleration phase will be shorter, and the smaller the adjustment parameter R x This will extend the duration of this phase. In this phase, increasing the adjustment parameter R x When the acceleration of the target mover decreases faster, the deceleration time is shorter, which means that the system completes deceleration and approaches a stop in a shorter time. This situation is suitable for occasions where you want to shorten the deceleration process, reduce the braking time, and the impact resistance of the workpiece is strong; relatively speaking, reducing the adjustment parameter R x When the acceleration of the target mover is gradually reduced, the process of gradually decreasing the acceleration of the target mover is prolonged, and the duration of the entire deceleration stage is prolonged, which means that the deceleration of the target mover is smoother, which can effectively reduce the impact and vibration of the workpiece during the deceleration process.

[0184] In the deceleration phase, the acceleration gradually decreases until the target mover stops completely. In this phase, the parameter R is adjusted. x and the adjustment index R 2 The value of affects the stability of the mover when it finally stops. In this stage, increase the adjustment parameter R x When the jerk of the target mover decreases to zero quickly, it means that there is a relatively large negative acceleration before the system stops, which may cause the workpiece carried by the target mover to produce a certain vibration or impact at the moment of stopping. x , the jerk of the target mover decreases to zero more smoothly, which means that the target mover stops more gently and the stopping process is smoother, which is suitable for application scenarios that have high requirements for the smooth stopping of the workpiece carried by the target mover.

[0185] Therefore, by changing the tuning parameter R x and the adjustment index R 2 The value of can make the deceleration phase more flexible, thus affecting the performance of the entire planned operation curve, including:

[0186] 1) Acceleration decay rate: When adjusting parameter R x When the value is larger, the acceleration decays faster and the deceleration phase is shorter. x When it is smaller, the acceleration decays more slowly and the deceleration phase lasts longer.

[0187] 2) Time allocation: The time allocation of the deceleration phase (especially the acceleration and deceleration phase and the uniform deceleration phase) is affected by the adjustment parameter R x The larger the adjustment parameter R x This will result in a shorter deceleration time and a smaller adjustment parameter R x This will extend the deceleration phase and affect the smoothness of the overall motion curve.

[0188] 3) System vibration control: reduce the adjustment parameter R x It can make the changes of acceleration and speed more gentle and reduce shock and vibration. Therefore, for applications where the workpieces to be transported require high precision and low vibration, a smaller adjustment parameter R is usually selected. x .

[0189] 4) Response speed and smoothness: If the target actuator needs a faster response, the adjustment parameter R can be increased. x To speed up the deceleration process, but it may introduce greater vibration. If there is a higher requirement for the smoothness of the target mover, the adjustment parameter R can be reduced. x To smooth out changes in acceleration and speed, thereby reducing vibration, at the expense of longer deceleration times.

[0190] Step 203: Generate planned operation data based on the deceleration phase operation data and the initial planned operation data, and perform operation control on the target mover based on the planned operation data.

[0191] Step 203 is described in detail below.

[0192] In some embodiments, after obtaining the flexibly generated acceleration phase operation data corresponding to the acceleration phase, the uniform speed phase data corresponding to the uniform speed phase, and the deceleration phase operation data corresponding to the deceleration phase, the planned operation data of the target mover are combined. Fig.11 , is a schematic diagram of an acceleration curve of planned operation data provided in an embodiment of the present application. Fig.11 As shown in the figure, the acceleration operation curve corresponding to the planned operation data is flexibly generated according to the operation requirements of the workpiece carried by the target mover and the processing speed requirements of the processing equipment, including the acceleration phase operation data corresponding to the acceleration phase, the uniform speed phase data corresponding to the uniform speed phase, and the deceleration phase operation data corresponding to the deceleration phase. The acceleration curve corresponding to the acceleration phase operation data is asymmetric with the acceleration curve corresponding to the acceleration and deceleration phase operation data, and is flexibly generated based on the specific operation requirements of the workpiece. Similarly, refer to Fig.12 , is a schematic diagram of an acceleration curve of a planned operation data provided in an embodiment of the present application. Fig.12 As shown in the figure, the jerk operation curve corresponding to the planned operation data flexibly generated according to the operation requirements of the workpiece carried by the target mover and the processing speed requirements of the processing equipment is shown. It can be seen that the jerk curve corresponding to the operation data in the acceleration stage is asymmetric with the jerk curve corresponding to the operation data in the acceleration and deceleration stage. It is flexibly generated based on the specific operation requirements of the workpiece, thereby reflecting the flexibility of the mover operation control method provided in the present application, and utilizing the flexibly generated planned operation data to meet the operation requirements of the workpiece carried by the target mover, thereby reflecting the reliability of the mover operation control method provided in the present application.

[0193] The embodiments of the present application provide a method, device, electronic device and storage medium for controlling the operation of a mover, and the method comprises: first, obtaining acceleration time and uniform velocity time, obtaining a first velocity curve based on the product of variable acceleration time and maximum acceleration, obtaining a first position curve based on integral processing of the first velocity curve, and generating acceleration operation data based on the first velocity curve, the first position curve and variable acceleration time, obtaining a second velocity curve based on the sum of the variable acceleration time and the uniform acceleration time and multiplying by the maximum acceleration, obtaining a second position curve based on the sum of the variable acceleration time and the uniform acceleration time and multiplying by the maximum acceleration and the variable acceleration time, obtaining a third velocity curve based on the sum of the variable acceleration time and the uniform acceleration time and multiplying by the maximum acceleration, obtaining a third position curve based on the sum of the variable acceleration time and the uniform acceleration time and multiplying by the maximum acceleration and the variable acceleration time, obtaining uniform acceleration operation data based on the second velocity curve, the second position curve and the variable acceleration time, and obtaining uniform acceleration operation data based on the third velocity curve , the third position curve and the variable acceleration time, and obtain the deceleration and acceleration operation data, and generate the uniform speed stage operation data based on the uniform speed time and the acceleration stage operation data, and the initial planned operation data includes the acceleration stage operation data and the uniform speed stage operation data; then, obtain the speed adjustment coefficient, and obtain the variable deceleration time based on the product of the speed adjustment coefficient and the variable acceleration time, and obtain the uniform deceleration time based on the product of the speed adjustment coefficient and the uniform acceleration time, and obtain the acceleration and deceleration operation data based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the variable deceleration time, and obtain the uniform deceleration operation data based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the uniform deceleration time, and obtain the deceleration and deceleration operation data based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the variable deceleration time; finally, generate the planned operation data based on the deceleration stage operation data and the initial planned operation data, and control the operation of the target mover based on the planned operation data.

[0194] The embodiment of the present application utilizes the acceleration time, uniform speed time and maximum acceleration obtained based on the operation requirements of the workpiece and the operation parameters of the target mover to plan and obtain the acceleration phase operation data and uniform speed phase operation data of the target mover carrying the workpiece, so as to facilitate the subsequent use of the acceleration phase operation data and the uniform speed phase operation data to generate the planned operation data of the target mover and perform operation control on the target mover, so as to ensure that the operation requirements of the workpiece are met, thereby improving the reliability of the mover operation control; and, utilizing the adjustment parameters and adjustment indexes generated by the operation requirements of the workpiece and the acceleration operation data to re-plan and obtain the deceleration phase operation data corresponding to the deceleration phase of the target mover carrying the workpiece, and the deceleration phase operation data The operating data of the acceleration phase is not symmetrical with the operating data of the acceleration phase, thereby improving the flexibility of generating the planned operating data of the target mover and accurately ensuring that the operating requirements of the workpiece are met, so as to improve the flexibility and reliability of the mover's operation control; that is, for the target mover carrying the workpiece, the acceleration phase operating data and the uniform speed phase operating data of the first half are planned in advance for the target mover, and then the speed adjustment system is combined to flexibly generate the deceleration phase operating speed of the second half, avoiding the situation where the acceleration phase operating speed and the deceleration phase operating data are symmetrical, so as to improve the flexibility of the mover's operation control, and use the adjustable speed adjustment coefficient so that the generated operation control data can meet the operation requirements of different workpieces, thereby improving the reliability of the mover's operation control.

[0195] The present application also provides a mover operation control device, which can implement the above mover operation control method, referring to Fig.13 , the device 1300 comprises:

[0196] The acceleration and uniform speed data acquisition module 1310 acquires the initial planned operation data of the target mover, wherein the initial planned operation data includes the operation data of the acceleration stage and the operation data of the uniform speed stage;

[0197] The deceleration data generating module 1320 is used to obtain the speed adjustment coefficient and generate the deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data;

[0198] The operation control module 1330 is used to generate planned operation data based on the deceleration phase operation data and the initial planned operation data, and to perform operation control on the target mover based on the planned operation data.

[0199] In some embodiments, the acceleration uniform speed data acquisition module 1310 is further used to:

[0200] Get acceleration time and uniform velocity time;

[0201] Generate acceleration phase operation data based on acceleration time and speed parameters of the mover;

[0202] The uniform speed phase operation data is generated based on the uniform speed time and acceleration phase operation data.

[0203] In some embodiments, the acceleration uniform speed data acquisition module 1310 is further used to:

[0204] A first speed curve is obtained based on the product of the variable acceleration time and the maximum acceleration, a first position curve is obtained based on the integration of the first speed curve, and acceleration operation data is generated based on the first speed curve, the first position curve and the variable acceleration time;

[0205] Based on the variable acceleration time, the uniform acceleration time and the maximum acceleration, the uniform acceleration operation data and the deceleration operation data are obtained.

[0206] In some embodiments, the acceleration uniform speed data acquisition module 1310 is further used to:

[0207] Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration, a second speed curve is obtained;

[0208] Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration and the variable acceleration time, a second position curve is obtained;

[0209] Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplied by the maximum acceleration, a third speed curve is obtained;

[0210] Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration and the variable acceleration time, a third position curve is obtained;

[0211] Based on the second speed curve, the second position curve and the variable acceleration time, uniform acceleration operation data is obtained, and based on the third speed curve, the third position curve and the variable acceleration time, deceleration operation data is obtained.

[0212] In some embodiments, the deceleration data generation module 1320 is further configured to:

[0213] The variable deceleration time is obtained based on the product of the speed adjustment coefficient and the variable acceleration time;

[0214] The uniform deceleration time is obtained based on the product of the speed adjustment coefficient and the uniform acceleration time;

[0215] The acceleration and deceleration operation data are obtained based on the maximum acceleration, variable acceleration time, uniform speed time, speed adjustment coefficient and variable deceleration time;

[0216] The uniform deceleration operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the uniform deceleration time;

[0217] The deceleration and acceleration operation data are obtained based on the maximum acceleration, variable acceleration time, uniform speed time, speed adjustment coefficient and variable deceleration time.

[0218] In some embodiments, the deceleration data generation module 1320 is further configured to:

[0219] Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplied by the maximum acceleration, the first velocity term is obtained;

[0220] Based on the square of the adjustment index, the maximum acceleration and the variable acceleration time are cumulatively multiplied, and then divided by the adjustment parameter, a second speed term is obtained, and based on the difference between the first speed term and the second speed term, a fourth speed curve is obtained;

[0221] The first speed term, the adjustment index and the variable acceleration time are cumulatively multiplied to obtain the first position term;

[0222] The second speed term, the variable acceleration time and the adjustment index are cumulatively multiplied to obtain a second position term, and a fourth position curve is obtained based on a difference between the first position term and the second position term;

[0223] Based on the fourth speed curve, the fourth position curve and the variable deceleration time, the acceleration and deceleration operation data are obtained.

[0224] In some embodiments, the deceleration data generation module 1320 is further configured to:

[0225] A first adjustment time item is obtained based on the square of the adjustment index multiplied by the uniform acceleration time, a second adjustment time item is obtained based on the square of the adjustment index multiplied by the variable acceleration time, and a third speed item is obtained based on the sum of the first adjustment time item and the second adjustment time item and divided by the adjustment parameter;

[0226] Based on the sum of the variable acceleration time and the uniform acceleration time, the third speed term is subtracted and multiplied by the maximum acceleration to obtain the fifth speed curve;

[0227] A third adjustment time item is obtained based on the product of the first adjustment time item and the adjustment index, and a third position item is obtained based on the sum of the third adjustment time item and the second adjustment time item and divided by the adjustment parameter;

[0228] Based on the sum of the variable acceleration time and the uniform acceleration time, the difference of the third position term is subtracted, and the fifth position curve is obtained by multiplying the maximum acceleration, the adjustment index and the uniform acceleration time.

[0229] Based on the fifth speed curve, the fifth position curve and the uniform acceleration time, uniform deceleration operation data is obtained.

[0230] In some embodiments, the deceleration data generation module 1320 is further configured to:

[0231] Based on the sum of the variable acceleration time and the uniform acceleration time, multiplying by the square of the adjustment index and the maximum acceleration, and then dividing by the adjustment parameter, a fourth speed term is obtained, and based on the difference between the first speed term and the fourth speed term, a sixth speed curve is obtained;

[0232] The fourth position term is obtained by multiplying the second velocity term, the uniform acceleration time and the adjustment index;

[0233] The fifth position term is obtained by multiplying the first speed term, the adjustment index and the variable acceleration time;

[0234] Based on the difference between the fifth position item and the second position item, the fourth position item is subtracted to obtain a sixth position curve;

[0235] Based on the sixth speed curve, the sixth position curve and the variable acceleration time, the deceleration operation data is obtained.

[0236] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, the specific implementation of the mover operation control device is basically consistent with the specific implementation of the above mover operation control method, and will not be repeated here.

[0237] In the embodiment of the present application, the mover operation control device uses the acceleration time, uniform speed time and maximum acceleration obtained based on the operation requirements of the workpiece and the operation parameters of the target mover to plan and obtain the acceleration phase operation data and uniform speed phase operation data of the target mover carrying the workpiece, so as to facilitate the subsequent use of the acceleration phase operation data and the uniform speed phase operation data to generate the planned operation data of the target mover and perform operation control on the target mover, thereby ensuring that the operation requirements of the workpiece are met, thereby improving the reliability of the mover operation control; and, using the adjustment parameters and adjustment indexes generated by the operation requirements of the workpiece, and the acceleration operation data to re-plan and obtain the deceleration phase operation data corresponding to the target mover carrying the workpiece in the deceleration phase, and the deceleration The stage operation data and the acceleration stage operation data are not symmetrical, thereby improving the flexibility of generating the planned operation data of the target mover and accurately ensuring that the operation requirements of the workpiece are met, so as to improve the flexibility and reliability of the mover operation control; that is, for the target mover carrying the workpiece, the acceleration stage operation data and the uniform speed stage operation data of the first half are planned in advance for the target mover, and then the speed adjustment system is combined to flexibly generate the deceleration stage operation speed of the second half, avoiding the situation where the acceleration stage operation speed and the deceleration stage operation data are symmetrical, so as to improve the flexibility of the mover operation control, and use the adjustable speed adjustment coefficient so that the generated operation control data can meet the operation requirements of different workpieces, thereby improving the reliability of the mover operation control.

[0238] The present application also provides an electronic device, including:

[0239] at least one memory;

[0240] at least one processor;

[0241] at least one program;

[0242] The program is stored in the memory, and the processor executes the at least one program to implement the above-mentioned mover operation control method implemented in this application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a car computer, etc.

[0243] See also Fig.14 , Fig.14 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0244] The processor 1401 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0245] The memory 1402 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device or RAM (Random Access Memory). The memory 1402 can store operating systems and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1402, and the processor 1401 calls and executes the mover operation control method of the embodiment of this application;

[0246] Input / output interface 1403, used to implement information input and output;

[0247] The communication interface 1404 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0248] A bus 1405 that transmits information between the various components of the device (e.g., the processor 1401, the memory 1402, the input / output interface 1403, and the communication interface 1404);

[0249] The processor 1401 , the memory 1402 , the input / output interface 1403 and the communication interface 1404 are connected to each other in communication within the device via a bus 1405 .

[0250] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the above-mentioned mover operation control method is implemented.

[0251] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0252] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0253] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0254] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0255] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0256] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0257] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0258] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0259] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0260] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0261] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0262] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for controlling the operation of a mover, characterized in that: include: Acquiring initial planned operation data of the target mover, wherein the initial planned operation data includes acceleration phase operation data and uniform speed phase operation data; Acquire a speed adjustment coefficient, and generate deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data; The planned operation data are generated based on the deceleration phase operation data and the initial planned operation data, and the operation of the target mover is controlled based on the planned operation data.

2. The mover operation control method according to claim 1, characterized in that: The obtaining of the initial planning operation data of the target mover includes: Get acceleration time and uniform velocity time; Generate the acceleration phase operation data based on the acceleration time and the speed parameter of the target mover; The uniform speed phase operation data is generated based on the uniform speed time and the acceleration phase operation data.

3. The mover operation control method according to claim 2, characterized in that: The speed parameter includes a maximum acceleration, the acceleration time includes a variable acceleration time and a uniform acceleration time, the acceleration phase operation data includes acceleration operation data, uniform acceleration operation data and deceleration operation data, and the generation of the acceleration phase operation data based on the acceleration time and the speed parameter of the target mover includes: obtaining a first speed curve based on the product of the variable acceleration time and the maximum acceleration, obtaining a first position curve based on the integration of the first speed curve, and generating the acceleration operation data based on the first speed curve, the first position curve and the variable acceleration time; The uniform acceleration operation data and the deceleration operation data are obtained based on the variable acceleration time, the uniform acceleration time and the maximum acceleration.

4. The mover operation control method according to claim 3, characterized in that: The obtaining of the uniform acceleration operation data and the deceleration operation data based on the variable acceleration time, the uniform acceleration time and the maximum acceleration includes: Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration, a second speed curve is obtained; Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration and the variable acceleration time, a second position curve is obtained; A third speed curve is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration; Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplying by the maximum acceleration and the variable acceleration time, a third position curve is obtained; The uniform acceleration operation data is obtained based on the second speed curve, the second position curve and the variable acceleration time, and the deceleration operation data is obtained based on the third speed curve, the third position curve and the variable acceleration time.

5. The mover operation control method according to claim 3, characterized in that: The deceleration phase operation data includes acceleration and deceleration operation data, uniform deceleration operation data, and deceleration and deceleration operation data. The generating of the deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data includes: Obtaining a variable deceleration time based on the product of the speed adjustment coefficient and the variable acceleration time; Obtaining a uniform deceleration time based on the product of the speed adjustment coefficient and the uniform acceleration time; The acceleration / deceleration operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the variable deceleration time; The uniform deceleration operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the uniform deceleration time; The deceleration and reduction operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the variable deceleration time.

6. The mover operation control method according to claim 5, characterized in that: The speed adjustment coefficient includes an adjustment parameter and an adjustment index, the adjustment index is the square of the adjustment base, and the acceleration / deceleration operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient, and the variable deceleration time, including: A first speed term is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration; Based on the square of the adjustment index, the maximum acceleration and the variable acceleration time are cumulatively multiplied, and then divided by the adjustment parameter to obtain a second speed term, and based on the difference between the first speed term and the second speed term, a fourth speed curve is obtained; Multiplying the first speed term, the adjustment index and the variable acceleration time to obtain a first position term; Multiplying the second speed term, the variable acceleration time and the adjustment index to obtain a second position term, and obtaining a fourth position curve based on a difference between the first position term and the second position term; The acceleration / deceleration operation data is obtained based on the fourth speed curve, the fourth position curve and the variable / deceleration time.

7. The method for controlling the operation of a mover according to claim 6, characterized in that: The adjustment index is the square of the adjustment base, and the uniform deceleration operation data is obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient, and the uniform deceleration time, including: A first adjustment time item is obtained based on the square of the adjustment index multiplied by the uniform acceleration time, a second adjustment time item is obtained based on the square of the adjustment index multiplied by the variable acceleration time, and a third speed item is obtained based on the sum of the first adjustment time item and the second adjustment time item divided by the adjustment parameter; Based on the sum of the variable acceleration time and the uniform acceleration time, the third speed term is subtracted and multiplied by the maximum acceleration to obtain a fifth speed curve; A third adjustment time item is obtained based on the product of the first adjustment time item and the adjustment index, and a third position item is obtained based on the sum of the third adjustment time item and the second adjustment time item and divided by the adjustment parameter; Based on the sum of the variable acceleration time and the uniform acceleration time, the difference of the third position item is subtracted, and the sum is multiplied by the maximum acceleration, the adjustment index and the uniform acceleration time to obtain a fifth position curve; The uniform deceleration operation data is obtained based on the fifth speed curve, the fifth position curve and the uniform acceleration time.

8. The method for controlling the operation of a mover according to claim 6, characterized in that: The obtaining of the deceleration operation data based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the variable deceleration time includes: A fourth speed term is obtained based on a sum of the variable acceleration time and the uniform acceleration time, multiplied by the square of the adjustment index and the maximum acceleration, and then divided by the adjustment parameter, and a sixth speed curve is obtained based on a difference between the first speed term and the fourth speed term; Multiply the second speed term, the uniform acceleration time and the adjustment index to obtain a fourth position term; Multiplying the first speed term, the adjustment index and the variable acceleration time to obtain a fifth position term; Based on the difference between the fifth position item and the second position item, the fourth position item is subtracted to obtain a sixth position curve; The deceleration and reduction operation data is obtained based on the sixth speed curve, the sixth position curve and the variable acceleration time.

9. A mover operation control device, characterized in that: The device comprises: An acceleration and uniform speed data acquisition module is used to acquire initial planned operation data of the target mover, wherein the initial planned operation data includes acceleration phase operation data and uniform speed phase operation data; A deceleration data generating module, used for acquiring a speed adjustment coefficient, and generating deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data; An operation control module is used to generate planned operation data based on the deceleration phase operation data and the initial planned operation data, and to perform operation control on the target mover based on the planned operation data.

10. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the mover operation control method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the mover operation control method according to any one of claims 1 to 8 is implemented.

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