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

Abstract

The embodiments of the present application propose a mover operation control method, device, electronic device and storage medium, and the method includes: first, obtaining initial planned operation data of the target mover, and the initial planned operation data includes acceleration stage operation data and uniform speed stage operation data; then, obtaining a speed adjustment coefficient, and generating deceleration stage operation data based on the speed adjustment coefficient and the acceleration stage operation data; finally, generating planned operation data based on the deceleration stage operation data and the initial planned operation data, and performing operation control on the target mover based on the planned operation data to improve the flexibility of the operation control of the mover, and using 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.

Description

Technical Field

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

[0002] The use of magnetic levitation technology to transport movers has a wide range of applications in industrial automation, such as assembly and packaging of goods along conveyor logistics lines, and the surface-mount manufacturing (SMT) of precision electronic components. These applications typically require the movers to operate sequentially on magnetic levitation conveyor tracks, while workpieces on the movers are processed during operation. To further improve the efficiency of the processing process, appropriate operational planning parameters must be pre-assigned to each mover.

[0003] Prior to transporting multiple movers on a maglev conveyor track, conventional operation planning parameters are typically pre-programmed for each mover based on its initial speed, initial position, and target position, combined with the mover's own operating parameters. However, during actual mover operation, different workpieces carried by the mover typically have different acceleration and deceleration requirements. Therefore, using these existing operation planning parameters to control the mover's motion control lacks flexibility, potentially failing to meet the workpiece's operational requirements. 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 provides a method for controlling the operation of a mover, 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] Acquiring a speed adjustment coefficient, and generating deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data;

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

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

[0010] Get acceleration time and uniform velocity time;

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

[0012] The constant speed phase operation data is generated based on the constant 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 j-acceleration operation data, uniform acceleration operation data, and deceleration operation data, and generating 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 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] A second speed curve is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration;

[0018] A second position curve is obtained based on a sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration and the variable acceleration time;

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

[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. Generating 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 a product of the speed adjustment coefficient and the variable acceleration time;

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

[0025] Obtaining 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;

[0026] obtaining 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;

[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 obtaining 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 includes:

[0029] A first velocity term is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration;

[0030] A second speed term is obtained by multiplying the square of the adjustment index by the maximum acceleration and the variable acceleration time, and then dividing the result by the adjustment parameter; and a fourth speed curve is obtained based on a difference between the first speed term and the second speed term.

[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 and 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 obtaining 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 includes:

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

[0036] A fifth speed curve is obtained by subtracting the third speed term from the sum of the variable acceleration time and the uniform acceleration time and multiplying the sum by the maximum acceleration.

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

[0038] A fifth position curve is obtained by subtracting a difference of the third position term from a sum of the variable acceleration time and the uniform acceleration time, and multiplying the sum by the maximum acceleration, the adjustment index, and the uniform acceleration time.

[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 obtaining 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:

[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] Multiplying 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] A sixth position curve is obtained by subtracting the fourth position item from the difference between the fifth position item and the second position item;

[0045] The deceleration 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 operation data of the acceleration phase and operation data of the uniform speed phase;

[0048] a deceleration data generating module, configured to obtain a speed adjustment coefficient and generate deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data;

[0049] An operation control module is configured 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 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 performing operation control on the target mover based on the planned operation data. The embodiment of the present application is directed to a target mover carrying a workpiece, pre-planning the acceleration phase operation data and uniform speed phase operation data for the target mover in the first half, and then combining the speed adjustment system to flexibly generate the deceleration phase operation speed in 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 utilizing 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.

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

[0054] Figure 1 It is a structural 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 another embodiment of the present application.

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

[0057] Figure 4 yes Figure 3 Flowchart 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 Flowchart of step 202 in FIG.

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

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

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

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

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

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

[0067] Figure 14 This 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 solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this 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 can 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 commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0071] The use of magnetic levitation technology to transport movers has a wide range of applications in industrial automation, such as assembly and packaging of goods along conveyor logistics lines, and the surface-mount manufacturing (SMT) of precision electronic components. These applications typically require the movers to operate sequentially on magnetic levitation conveyor tracks, while workpieces on the movers are processed during operation. To further improve the efficiency of the processing process, appropriate operational planning parameters must be pre-assigned to each mover.

[0072] Prior to transporting multiple movers on a maglev conveyor track, conventional operation planning parameters are typically pre-programmed for each mover based on its initial speed, initial position, and target position, combined with the mover's own operating parameters. However, during actual mover operation, different workpieces carried by the mover typically have different acceleration and deceleration requirements. Therefore, using these existing operation planning parameters to control the mover's motion control lacks flexibility, potentially failing to meet the workpiece's operational requirements.

[0073] In order to improve the flexibility of the operation control of the mover when it transports the workpiece, the embodiment of the present application is aimed at the target mover carrying the workpiece, and the acceleration stage operation data and the uniform speed stage operation data of the first half are planned in advance for the target mover. Then, the speed adjustment system is combined to flexibly generate the deceleration stage operation speed of the second half, avoiding the symmetry of the acceleration stage operation speed and the deceleration stage operation data, so as to improve the flexibility of the operation control of the mover, and utilize 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, it is a structural diagram 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 mover carries 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 following will specifically describe the mover operation control method in the embodiment of the present application. Figure 2 , which is an optional flow chart of the mover operation control method provided in an embodiment of the present application, Figure 2 The method may include but is not limited to steps 201 to 203. It is also understood that this embodiment is for Figure 2 The order of steps 201 to 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 smart 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 the target mover carrying the workpiece in the magnetic levitation conveying system, it is necessary to obtain the initial planned operating data for the target mover in advance, so as to flexibly generate planned operating data that meets the operating requirements of the workpiece based on the initial planned operating data. The initial planned operating data includes the acceleration phase operating data and the uniform speed phase operating data of the target mover. The following will further describe how to generate the initial planned operating data.

[0079] Reference Figure 3 , obtaining the initial planned 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, the acceleration time used to generate the acceleration phase operation data and the uniform speed time used to generate the uniform speed phase transportation data are first obtained. It can be understood that since different types of workpieces have corresponding operation requirements, which include the acceleration time length range, the deceleration time length range, the maximum acceleration magnitude 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 obtained 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 =|t1-t0|=|t3-t2| and the uniform acceleration time t corresponding to the uniform acceleration stage a=|t2-t1|, where t0 is the time corresponding to the starting moment; t1 is the time corresponding to the end moment of the acceleration phase, which is also the time corresponding to the beginning moment of the uniform acceleration phase; t2 is the time corresponding to the end moment of the uniform acceleration phase, which is also the time corresponding to the beginning moment of the deceleration phase; t3 is the time corresponding to the end moment of the deceleration phase, which is also the time corresponding to the beginning moment of the uniform velocity phase.

[0086] In addition, the uniform velocity time is t b =|t4-t3|, t4 is the time corresponding to the end of the uniform speed phase, and also 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, wherein 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 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 velocity 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 velocity curve, and generating acceleration operation data based on the first velocity 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, obtain uniform acceleration operation data and deceleration operation data.

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

[0092] For the acceleration stage, first based on the acceleration time t s =|t1-t0| and maximum acceleration A max The product of t and divided by 2 can be obtained to get the speed value at the end of the acceleration phase as shown in the following formula (1), and the acceleration time t s As the time parameter t, a first velocity 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 =|t1-t0| generates the jerk operation data of the jerk phase.

[0097] After that, we further change the acceleration time t s =|t3-t2|, uniform acceleration time t a =|t2-t1| and 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: A second velocity curve is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration.

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

[0101] Step 503: A third velocity curve is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration.

[0102] Step 504: A third position curve is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration and the variable acceleration time.

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

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

[0105] For the uniform acceleration stage, first based on half of the variable acceleration time t s / 2 and uniform acceleration time t a and multiply 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=|t2-t1| 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 accelerations is multiplied 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 =|t2-t1| 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 velocity curve (3), the second position curve (4) and the uniform acceleration time t a =|t2-t1| generates uniform acceleration operation data of the uniform acceleration stage.

[0110] For the deceleration stage, based on the variable acceleration time t s and uniform acceleration time t a and multiply by the maximum acceleration A max The speed value at the end of the deceleration stage is obtained as shown in the following formula (5), and the acceleration time t s =|t3-t2| 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] Furthermore, based on the five-sixths variable acceleration time t s and uniform acceleration time t a The sum of the accelerations is multiplied 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 =|t3-t2| 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 ts =|t3-t2| generates the deceleration operation data of the deceleration phase.

[0115] Step 303: Generate uniform speed phase operation data based on the 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 planned running speed of the actuator in this stage is uniform, 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 =|t4-t3| and the uniform speed curve (7) can obtain the uniform speed position curve corresponding to the uniform speed operation stage as shown in the following formula (8).

[0120] P4=∫V4dt=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 =|t4-t3| can obtain the uniform speed stage operation data of the uniform speed stage.

[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 from 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. The corresponding acceleration curves are shown in Figure 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 =|t1-t0|=|t3-t2|, 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 also be unequal, that is, |t1-t0|≠|t3-t2|, which can be determined according to 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 planned 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 may have different acceleration and deceleration time ranges, and the acceleration and deceleration time ranges may differ. If pre-generated acceleration phase operation data is used to symmetrically generate deceleration phase operation data, the workpiece operation requirements may not be met, potentially causing damage to the workpiece during transportation.

[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 required for the workpiece carried by the target mover. The speed adjustment coefficient includes the adjustment parameter R x and adjustment index R2, where adjustment index R2 is the adjustment parameter R x The square of R2 = R x 2 , which are all values ​​that can be obtained directly.

[0128] Next, 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 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 After adjusting the index R2, based on the adjustment index R2 and the variable acceleration time t s The product of the acceleration and deceleration phase and the deceleration phase is obtained by multiplying the acceleration and deceleration phase to obtain the variable deceleration time R2t corresponding to the acceleration and deceleration phase. s =t ds = |t5-t4| = |t7-t6|, as well as the base adjustment index R2 and the uniform acceleration time t a The product of the uniform deceleration time R2t is obtained a =t da =|t6-t5|. t4 is the time corresponding to the start of the acceleration / deceleration phase; t5 is the time corresponding to the end of the acceleration / deceleration phase, which is also the time corresponding to the start of the uniform deceleration phase; t6 is the time corresponding to the end of the uniform deceleration phase, which is also the time corresponding to the start of the deceleration phase; and t7 is the time corresponding to the end of the deceleration phase.

[0135] It can be understood that the acceleration a during the deceleration phase dm Also changes to a dm =-A max R2 / R x , and the corresponding jerk j dm 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 adjustment index R2) and variable deceleration time R2t s =t ds =|t5-t4|=|t7-t6| The acceleration and deceleration operation data of the acceleration and deceleration stage are obtained, which will be further described in detail 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: A first velocity term is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration.

[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: Obtain acceleration and deceleration operation data based on the fourth speed curve, the fourth position curve, and the variable deceleration time.

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

[0144] For the acceleration and deceleration stage, first based on the variable acceleration time t s and uniform acceleration time t a and multiply by the maximum acceleration A max , and get the first speed term A max (t a +t s Then, based on the square of the adjustment index R2, multiply it by the maximum acceleration A max and variable acceleration time t s , divided by twice the number of adjustment parameters 2R x , and get the second speed term A max t s R2 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 and deceleration stage is obtained as shown in the following formula (9), and the deceleration time R2t is changed s =t ds =|t5-t4| 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] Furthermore, the first speed term A is multiplied max (t a +t s ), adjust the index R2 and change the acceleration time ts , get the first position item A max R2t s (t a +t s ). Next, multiply the second speed term A max t s R2 2 / (2R x ), variable acceleration time t s And the adjusted index R2, divided by three, to get the second position term A max t s2 R 23 / (6R x ). Then, based on the first position item A max R2t s (t a +t s ) and the second position item A max t s 2 R2 3 / (6R x ) to obtain the position value at the end of the acceleration and deceleration stage as shown in the following formula (10), and the deceleration time R2t s =t ds =|t5-t4| 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 R2t s =t ds =|t5-t4| Generates acceleration and deceleration operation data for the acceleration and deceleration phase.

[0149] Step 704: Obtain 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.

[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 adjustment index R2) and uniform deceleration time R2t a =t da =|t6-t5| to obtain the uniform deceleration operation data corresponding to the uniform deceleration stage, which is described in detail as follows.

[0152] Reference Figure 9 , obtaining uniform deceleration operation data based on maximum acceleration, variable acceleration time, uniform speed time, speed adjustment coefficient and uniform deceleration time, 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: Obtain a third adjusted time item based on the product of the first adjusted time item and the adjustment index, and obtain a third position item based on the sum of the third adjusted time item and the second adjusted time item, 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 square of the adjustment index R2 multiplied by the uniform acceleration time t a Get the first adjustment time item t a R2 2 , based on the square of the adjustment index R2 multiplied by the variable acceleration time t s Get the second adjustment time item t s R2 2 , and based on the first adjustment time term t a R2 2 and half of the second adjustment time term t s R2 2 / 2, and then divided by the adjustment parameter R x , we get the third speed term (t a R2 2 +t s R2 2 / 2) / R x .

[0160] Furthermore, based on the variable acceleration time t s and uniform acceleration time t a The sum of the speed and then subtract the third speed term (t a R2 2 +t s R2 2 / 2) / R x , and multiply by the maximum acceleration A max The speed value at the end of the uniform deceleration stage is obtained as shown in the following formula (11), and the uniform deceleration time R2t a =t da =|t6-t5| 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 R2 2 The product of the adjustment index R2 gives the third adjustment time term t a R2 3 , and based on the third adjustment time term t a R2 3 and the second adjustment time term t s R2 2 The sum of the two, divided by twice the number of adjustment parameters 2R x , get the third position item (t a R2 3 +t s R2 2 ) / (2R x ). Afterwards, based on the variable acceleration time t s and uniform acceleration time t a The sum of the three terms (t a R2 3 +t s R2 2 ) / (2R x ) and multiply it by the maximum acceleration A max , adjust the index R2 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 R2t a =t da =|t6-t5| 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 R2t a =t da =|t6-t5| generates uniform deceleration operation data of the uniform deceleration phase.

[0167] Step 705: Obtain deceleration and acceleration operation data based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient, and the 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 adjustment index R2) and variable deceleration time R2t s =t ds =|t7-t6| to obtain the deceleration operation data corresponding to the deceleration stage, which is described in detail as follows.

[0170] Reference Figure 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 it by the square of the adjustment exponent and the maximum acceleration, and then divide it 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 velocity 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: Obtain deceleration operation data based on the sixth speed curve, the sixth position curve, and the variable acceleration time.

[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 adjustment index R2 and the maximum acceleration A max , divided by the adjustment parameter R x , and get the fourth speed term A max R2 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 R2 2 (t a +t s ) / R x The difference between the two values ​​is used to obtain the speed value at the end of the deceleration stage as shown in the following formula (14), and the deceleration time R2t is changed s =t ds =|t5-t4| 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 R2 2 / (2R x ), uniform acceleration time t a And the adjustment index R2, multiplied by two, to get the fourth position term A max t s t a R2 3 / R x , and the cumulative first speed term A max (t a +t s ), adjust the index R2 and change the acceleration time t s , get the fifth position item A max R2t s (t a +t s ), then based on the fifth position item A max R2t s (t a +t s ) and five times the number of second position items 5Amax t s 2 R2 3 / (6R x ), minus the fourth position term A max t s t a R2 3 / R x The position value at the end of the deceleration stage is obtained as shown in the following formula (15), and the deceleration time R2t is changed s =t ds =|t7-t6| 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, as well as the acceleration operation data are used 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 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 is understandable that, for the acceleration and deceleration phase, the planned acceleration gradually becomes negative, thus starting to decelerate. By changing the adjustment parameter R x By adjusting the value of the index R2, the rate of acceleration decrease and the shape of its curve can be controlled. x When the acceleration decreases faster, it means that the acceleration in the deceleration stage drops more sharply, and the target mover reaches a lower speed or stops 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 shock and vibration to the workpiece. Reduce the adjustment parameter R x When the acceleration decreases more slowly, the deceleration process of the target mover becomes smoother. This can reduce the impact and vibration on the workpiece and make the deceleration process more stable and smooth, but the deceleration time required is longer.

[0183] In the uniform deceleration phase, the acceleration of the target actuator remains negative and continues to decelerate. The duration and acceleration of this phase are affected by the adjustment parameter R x And the direct impact of the adjustment index R2. And since R2=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 Will prolong the time of this stage. In this stage, increase 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 it is desired 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 decreases gradually, the process of the entire deceleration stage lasts longer, 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 is gradually reduced until the target actuator comes to a complete stop. In this phase, the parameter R is adjusted. x The value of the adjustment index R2 affects the stability of the mover when it finally stops. In this stage, increasing 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. Conversely, reducing the adjustment parameter R 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 Adjusting the value of the index R2 can make the deceleration phase more flexible, thus affecting the performance of the entire planned operation curve, including:

[0186] 1) Acceleration attenuation rate: When adjusting the 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 stage (especially the acceleration and deceleration stage and the uniform deceleration stage) 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, reduce shock and vibration. Therefore, for applications where high precision and low vibration are required for conveying workpieces, a smaller adjustment parameter R is usually selected. x .

[0189] 4) Response speed and smoothness: If the target actuator requires 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, the cost is a longer deceleration time.

[0190] Step 203: generating planned operation data based on the deceleration phase operation data and the initial planned operation data, and performing 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. Figure 11 , is a schematic diagram of an acceleration curve of planned operation data provided in an embodiment of the present application. Figure 11 As shown in , it shows the acceleration operation curve corresponding to the planned operation data flexibly generated for the operation requirements of the workpiece carried by the target mover and the processing speed requirements of the processing equipment, which includes 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 Figure 12 , is a schematic diagram of an acceleration curve of a planned operation data provided in an embodiment of the present application. Figure 12As shown in the figure, the acceleration 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 acceleration curve corresponding to the operation data in the acceleration stage and the acceleration curve corresponding to the operation data in the acceleration and deceleration stage are asymmetric. They are flexibly generated based on the specific operation requirements of the workpiece, thereby reflecting the flexibility of the mover operation control method provided by 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 by the present application.

[0193] The embodiments of the present application propose a method, device, electronic device and storage medium for controlling the operation of a mover. The method includes: 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 it 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 it 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 it 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 it 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 are used to obtain the deceleration and acceleration operation data, and the uniform speed stage operation data is generated based on the uniform speed time and the acceleration stage operation data. The initial planned operation data includes the acceleration stage operation data and the uniform speed stage operation data; then, the speed adjustment coefficient is obtained, and the variable deceleration time is obtained based on the product of the speed adjustment coefficient and the variable acceleration time, and the uniform deceleration time is obtained based on the product of the speed adjustment coefficient and the uniform acceleration time. The acceleration and deceleration operation data are 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 deceleration operation data are obtained based on the maximum acceleration, the variable acceleration time, the uniform speed time, the speed adjustment coefficient and the uniform deceleration time. Finally, the planned operation data is generated based on the deceleration stage operation data and the initial planned operation data, and the operation of the target mover is controlled 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, thereby ensuring 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 operation data of the acceleration phase is not symmetrical with the operation data of the acceleration phase, 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 phase operation data and the uniform speed phase 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 phase operation speed of the second half, avoiding the symmetry between the acceleration phase operation speed and the deceleration phase operation data, so as to improve the flexibility of the mover operation control, and use the adjustable speed adjustment coefficient to make the generated operation control data meet the operation requirements of different workpieces, thereby improving the reliability of the mover operation control.

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

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

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

[0198] The operation control module 1330 is configured 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 configured to:

[0200] Get acceleration time and uniform velocity time;

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

[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 configured to:

[0204] obtaining a first velocity curve based on the product of the variable acceleration time and the maximum acceleration, obtaining a first position curve based on integration of the first velocity curve, and generating jerk operation data based on the first velocity 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, uniform acceleration operation data and deceleration operation data are obtained.

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

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

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

[0209] The third velocity curve is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration;

[0210] Based on the sum of the variable acceleration time and the uniform acceleration time, and multiplied 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, variable acceleration time, uniform speed time, speed adjustment coefficient and 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] The first velocity term is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration;

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

[0221] Multiply the first velocity term, the adjustment index, and the variable acceleration time to obtain the first position term;

[0222] 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;

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

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

[0225] A first adjustment time term is obtained by multiplying the square of the adjustment index by the uniform acceleration time, a second adjustment time term is obtained by multiplying the square of the adjustment index by the variable acceleration time, and a third speed term is obtained by dividing the sum of the first adjustment time term and the second adjustment time term by the adjustment parameter;

[0226] Based on the sum of the variable acceleration time and the uniform acceleration time, subtract the third speed term and multiply 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, 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 multiplied by the maximum acceleration, the adjustment index and the uniform acceleration time to obtain the fifth position curve;

[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] A fourth velocity term is obtained based on the sum of the variable acceleration time and the uniform acceleration time, multiplied by the square of the adjustment exponent and the maximum acceleration, and then divided by the adjustment parameter. A sixth velocity curve is obtained based on the difference between the first velocity term and the fourth velocity term.

[0232] Multiply the second velocity term, the uniform acceleration time, and the adjustment exponent to obtain the fourth position term;

[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, deceleration operation data is obtained.

[0236] In the above embodiments, the description of each embodiment has different emphases. For the parts not described in detail in a certain embodiment, the specific implementation of the mover operation control device is basically the same as 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 deceleration phase of the target mover carrying the workpiece, and the deceleration phase operation data. 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 symmetry of the acceleration stage operation speed and the deceleration stage operation data, so as to improve the flexibility of the mover operation control, and use the adjustable speed adjustment coefficient to make the generated operation control data meet the operation requirements of different workpieces, thereby improving the reliability of the mover operation control.

[0238] An embodiment of the present application further 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 smart terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), an in-vehicle computer, etc.

[0243] See also Figure 14 , Figure 14 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0244] The processor 1401 may be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured 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 an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1402 and is called by the processor 1401 to execute the mover operation control method of the embodiments of this application;

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

[0247] Communication interface 1404, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0248] Bus 1405 , which transmits information between various components of the device (e.g., processor 1401 , memory 1402 , input / output interface 1403 , and 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 arranged 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 this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this 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 this application are also applicable to similar technical problems.

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

[0254] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0255] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations 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 sequential order. 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 variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes 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 this 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 previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items 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 this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, 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 separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0260] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or 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, which is stored in a storage medium and includes multiple instructions for enabling 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: various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0262] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A method for controlling the operation of a mover, characterized in that: include: Acquiring initial planned operating data of the target mover, wherein the initial planned operating data includes operating data of the acceleration phase, operating data of the uniform speed phase, and acceleration time; Acquiring a speed adjustment coefficient, and generating deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data; generating planned operation data based on the deceleration phase operation data and the initial planned operation data, and performing operation control on the target mover based on the planned operation data; The acceleration time includes a variable acceleration time and a uniform acceleration time, the deceleration phase operation data includes acceleration 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: Obtaining a variable deceleration time based on a product of the speed adjustment coefficient and the variable acceleration time; Obtaining a uniform deceleration time based on a product of the speed adjustment coefficient and the uniform acceleration time; Obtaining 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; The speed adjustment coefficient includes an adjustment parameter and an adjustment index, the adjustment index is the square of the adjustment coefficient, and the acceleration and 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 velocity term is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration; A second speed term is obtained by multiplying the square of the adjustment index by the maximum acceleration and the variable acceleration time, and then dividing the result by the adjustment parameter; and a fourth speed curve is obtained based on a difference between the first speed term and the second speed term. 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 and deceleration operation data is obtained based on the fourth speed curve, the fourth position curve, and the variable deceleration time.

2. The mover operation control method according to claim 1, characterized in that: The obtaining of the initial planned operation data of the target mover includes: Get acceleration time and uniform velocity time; generating the acceleration phase operation data based on the acceleration time and the speed parameter of the target mover; The constant speed phase operation data is generated based on the constant 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 phase operation data includes acceleration operation data, uniform acceleration operation data, and deceleration operation data, and generating 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 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: A second speed curve is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration; A second position curve is obtained based on a sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration and the variable acceleration time; 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; A third position curve is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration and the variable acceleration time; 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 further includes uniform deceleration operation data and decreasing 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 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; 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 adjustment index is the square of the adjustment coefficient. 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 by multiplying the square of the adjustment index by the uniform acceleration time, a second adjustment time item is obtained by multiplying the square of the adjustment index by the variable acceleration time, and a third speed item is obtained by dividing the sum of the first adjustment time item and the second adjustment time item by the adjustment parameter; A fifth speed curve is obtained by subtracting the third speed term from the sum of the variable acceleration time and the uniform acceleration time and multiplying the sum by the maximum acceleration. Obtaining a third adjustment time item based on the product of the first adjustment time item and the adjustment index, and obtaining a third position item based on the sum of the third adjustment time item and the second adjustment time item, divided by the adjustment parameter; A fifth position curve is obtained by subtracting a difference of the third position term from a sum of the variable acceleration time and the uniform acceleration time, and multiplying the sum by the maximum acceleration, the adjustment index, and the uniform acceleration time. The uniform deceleration operation data is obtained based on the fifth speed curve, the fifth position curve, and the uniform acceleration time.

7. The mover operation control method according to claim 5, 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. Multiplying 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; A sixth position curve is obtained by subtracting the fourth position item from the difference between the fifth position item and the second position item; The deceleration operation data is obtained based on the sixth speed curve, the sixth position curve, and the variable acceleration time.

8. 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 operation data of the acceleration phase and operation data of the uniform speed phase; a deceleration data generating module, configured to obtain a speed adjustment coefficient and generate deceleration phase operation data based on the speed adjustment coefficient and the acceleration phase operation data; an operation control module, configured to 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; The acceleration time includes a variable acceleration time and a uniform acceleration time, the deceleration phase operation data includes acceleration and deceleration operation data, and the deceleration phase operation data is generated based on the speed adjustment coefficient and the acceleration phase operation data, including: Obtaining a variable deceleration time based on a product of the speed adjustment coefficient and the variable acceleration time; Obtaining a uniform deceleration time based on a product of the speed adjustment coefficient and the uniform acceleration time; Obtaining 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; The speed adjustment coefficient includes an adjustment parameter and an adjustment index, the adjustment index is the square of the adjustment coefficient, and the acceleration and 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 velocity term is obtained based on the sum of the variable acceleration time and the uniform acceleration time and multiplied by the maximum acceleration; A second speed term is obtained by multiplying the square of the adjustment index by the maximum acceleration and the variable acceleration time, and then dividing the result by the adjustment parameter; and a fourth speed curve is obtained based on a difference between the first speed term and the second speed term. 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 and deceleration operation data is obtained based on the fourth speed curve, the fourth position curve, and the variable deceleration time.

9. An electronic device, characterized in that: The invention 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 7 is implemented.

10. 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 7 is implemented.

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