Deceleration control method and system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of parking control, in particular to a deceleration control method and system, a deceleration interval is set, and a distance inflection point and a pre-stop speed are set in the deceleration interval; the deceleration interval is divided into a first deceleration interval and a second deceleration interval by the distance inflection point; through the maximum speed value of the second deceleration interval, the speed running state of the first deceleration interval is limited; the mobile platform linearly decelerates in the second deceleration interval to reach a pre-stop speed and runs at the pre-stop speed to reach a target position after the rest distance, parameter adjustment factors P1 and P2 are introduced, a function relation between the real-time speed of the driving motor and the real-time position of the mobile platform is constructed, and the real-time position of the mobile platform is determined. The parameter adjusting factors P1 and P2 can adjust the length of the speed reduction interval, the corresponding completion time and the slope of linear speed reduction, a user can set the speed reduction state in a user-defined mode, the influence of a control algorithm of the frequency converter is not limited any more, expandability is higher, and any frequency converter of the same specification can be replaced and is not influenced by the factors such as the speed and the distance.

Description

Technical Field

[0001] The present invention relates to the technical field of parking control, and in particular to a deceleration control method, system, electronic equipment and storage medium. Background Art

[0002] At present, the control of three-dimensional storage mobile platforms usually uses frequency converters as drivers. The mobile platform control algorithm provided by the frequency converter manufacturer controls the operation of the mobile platform. The user only needs to send the target position, acceleration, speed and other parameters from the controller to the frequency converter, and the frequency converter can generate a speed change curve. The frequency converter outputs voltage, frequency and other parameters according to the curve, controls the motor to move at the set speed, and can control the speed and position of the mobile platform.

[0003] The use of the driver's own algorithm has the following disadvantages:

[0004] 1) The control algorithm is provided by the inverter manufacturer, and the user cannot change the algorithm for non-standard design.

[0005] 2) When the inverter manufacturer or model is changed, it needs to be re-debugged and the internal control program of the controller also needs to be replaced.

[0006] 3) The mobile platform control algorithm provided by the inverter manufacturer is usually a multi-stage control method: the running distance of the mobile platform axis is divided into different stages, and different stages are assigned different but fixed speeds to the axis. However, the multi-stage speed control method is limited by different distances and speeds, and needs to be adjusted and tested multiple times according to different sites, otherwise it will cause the machine to run jittery.

[0007] 4) The mobile platform control algorithm built into the inverter needs to be matched with the tail encoder and position encoder connected to the mobile platform, resulting in one inverter being able to control only one mobile platform motor.

[0008] Based on the problems in the prior art, the present invention provides a deceleration control method, system, electronic device and storage medium. Summary of the invention

[0009] The purpose of the present invention is to provide a deceleration control method, system, electronic device and storage medium to solve the technical problem in the prior art that it is difficult to adapt the control algorithm to a better usage state due to the limitation of the mobile platform control algorithm of the inverter.

[0010] The technical solution of the present invention is: a deceleration control method, comprising:

[0011] A deceleration interval is set, and a distance turning point and a pre-stop speed are set in the deceleration interval; the distance turning point divides the deceleration interval into a first deceleration interval and a second deceleration interval, and the mobile platform decelerates in the first deceleration interval to run to the distance turning point;

[0012] Setting a maximum speed value of the second deceleration interval, and limiting the speed running state of the first deceleration interval by the maximum speed value of the second deceleration interval;

[0013] During the deceleration process, if the real-time speed of the first deceleration interval is not less than the maximum speed value of the second deceleration interval, the linear deceleration is maintained to complete the first deceleration interval; if the real-time speed of the first deceleration interval is less than the maximum speed value of the second deceleration interval, the second deceleration interval is entered at the maximum speed of the second deceleration interval;

[0014] The mobile platform linearly decelerates in the second deceleration interval to reach the pre-stop speed;

[0015] The mobile platform runs the remaining distance at the pre-stop speed to reach the target position.

[0016] Preferably, the distance between the starting deceleration position and the target position is set as the deceleration interval, the length of the deceleration interval is L1, and the target position is L M , the length of the second deceleration interval is L2, the pre-stop speed of the driving motor of the mobile platform is V Y , the set speed of the driving motor of the mobile platform is V S , the real-time location of the mobile platform S , introduce the parameter adjustment factors P1 and P2, and construct the speed V of the mobile platform and the real-time position L of the mobile platform S The functional relationship between , the deceleration state of the mobile platform in the first deceleration interval and the second deceleration interval is as follows:

[0017] In the first deceleration interval, the distance meets: L2<|L M -L S |≤L1,

[0018] In the first deceleration interval, the real-time speed V1 of the mobile platform driving motor is:

[0019] If in the first deceleration interval, Then Run at a constant speed to the second deceleration zone,

[0020] If in the first deceleration interval, Then After running the first deceleration interval;

[0021] Meet the distance: |L M -L S |≤L2, then enter the second deceleration interval; the real-time speed V2 in the second deceleration interval is Linear deceleration operation;

[0022] If in the second deceleration range, V2 ≥ V Y , then Linear deceleration operation reaches the pre-stop speed V Y , at the pre-stop speed V Y Run at a constant speed to reach the target position L M , where V Y = constant;

[0023] If in the second deceleration zone, V2 <V Y , then the pre-stop speed V Y Run at a constant speed to the target position L M .

[0024] Preferably, the rotation speed V of the driving motor of the mobile platform and the real-time position L of the mobile platform are constructed. S Before the functional relationship between them, the user customizes the values ​​of P1 and P2 according to the deceleration project scenario of the application; the user customizes the speed to V according to the driving motor type parameters of the mobile platform S By changing the value of P2, the minimum speed value of the first deceleration interval is adjusted, thereby adjusting the length of the linear deceleration interval and the uniform speed interval in the first deceleration interval and the corresponding completion time.

[0025] Preferably, within the first deceleration interval, the duration corresponding to the linear deceleration interval is set to t1, and the duration corresponding to the uniform speed interval is set to t2; then,

[0026]

[0027] By changing the value of P2, the minimum speed of V1 is adjusted; the larger the P2 is, the greater the slope of the speed curve of linear deceleration in the first deceleration interval is, the longer the uniform speed operation interval is, and the higher the efficiency is.

[0028] A deceleration control system, used to implement the deceleration control method, comprises:

[0029] An encoder module is installed on the mobile platform and is used to obtain the real-time speed of the driving motor of the mobile platform and the real-time position of the mobile platform;

[0030] A driver module, used for driving and controlling the running speed of the driving motor;

[0031] The mobile platform control module is electrically connected to the encoder module and the driver module respectively. The mobile platform control module sends the real-time speed of the drive motor to the driver module. The driver module outputs a current signal to the drive motor to adjust the rotation speed of the drive motor, thereby adjusting the running speed of the mobile platform.

[0032] Preferably, the mobile platform control module includes:

[0033] An information receiving unit, used to receive the running speed collected by the driver module and the real-time position collected by the encoder module;

[0034] Parameter setting unit, setting speed adjustment related parameter information, including: target position L M , the length of the deceleration interval L1, the position of the turning point in the deceleration interval, and the set speed V of the drive motor S , Pre-stop speed V Y , parameter adjustment factors P1 and P2, the distance inflection point divides the deceleration interval into a first deceleration interval and a second deceleration interval L2;

[0035] The efficiency adjustment unit is based on the parameters set by the parameter setting module and the real-time position L obtained by the information receiving module. S and the running speed V, a functional relationship between the real-time speed of the drive motor and the real-time position of the mobile platform is constructed as follows:

[0036] When L2<|L M -L S |≤L1, the speed V1 in the first deceleration interval is expressed as:

[0037] if Then Run at a constant speed to the second deceleration zone and reach the turning point of the route;

[0038] if Then After running the first deceleration interval;

[0039] When |L M -L S |≤L2, the speed V2 in the second deceleration interval is expressed as:

[0040] If V2 ≥ V Y , then The linear deceleration runs through the second deceleration interval and reaches the pre-stop speed V Y , at the pre-stop speed V Y Run at a constant speed to reach the target position L M , where V Y = constant;

[0041] If V2 <V Y , then the pre-stop speed V Y Run at a constant speed to the target position L M ;

[0042] According to the functional relationship between the real-time speed of the driving motor and the real-time position of the mobile platform, the linear deceleration state of the mobile platform in the deceleration range is controlled;

[0043] Furthermore, by changing the value of P2, the minimum speed value of the speed V1 in the first deceleration interval is adjusted, and the lengths and corresponding times of the linear deceleration interval and the uniform speed interval in the first deceleration interval are adjusted.

[0044] Preferably, the driver module adopts a frequency converter, the mobile platform control module adopts a PLC controller, and the frequency converter communicates with the PLC controller via messages.

[0045] Preferably, the mobile platform is configured as a fork motor, and when two identical drive motors are used to drive a pair of forks to operate, a frequency converter switches and controls the two drive motors through a contactor.

[0046] An electronic device comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the deceleration control method.

[0047] A computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the deceleration control method.

[0048] Compared with the prior art, the advantages of the present invention are:

[0049] (1) The present invention sets a distance turning point for the deceleration interval and sets the speed. The distance turning point divides the deceleration interval into a first deceleration interval and a second deceleration interval. The speed of the first deceleration interval is limited by the maximum speed value of the second deceleration interval, so that the mobile platform maintains a relatively large real-time speed in the deceleration interval, thereby improving the operating efficiency. In addition, since the mobile platform runs the deceleration interval in a linearly changing state, compared with multi-stage speed control, the overall operating speed of the mobile platform is smoother and less damage to the motor machinery.

[0050] (2) By introducing the tuning factors P1 and P2, a functional relationship between the motor speed of the mobile platform and the real-time position of the mobile platform axis is constructed. The tuning factors P1 and P2 can adjust the length of the deceleration interval and the corresponding completion time, as well as the slope of the linear deceleration. Users can customize the deceleration state and are no longer limited by the control algorithm of the inverter. The scalability is higher and any inverter of the same specification can be replaced without being affected by factors such as speed and distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0052] Figure 1 is a system block diagram of the speed control system of the present invention;

[0053] Figure 2 It is a flow chart of the speed control method of the present invention;

[0054] Figure 3 A schematic diagram of a speed curve in a deceleration interval under different P value states provided by the present invention;

[0055] Figure 4 A speed linear variation table in the deceleration interval under different P value states provided by the present invention;

[0056] Figure 5 A schematic diagram of speed curve comparison in the embodiment provided by the present invention;

[0057] Figure 6 A schematic diagram of the structure of an electronic device provided by the present invention;

[0058] Among them: 1. encoder module; 2. driver module; 3. mobile platform control module; 4. mobile platform; 5. drive motor; 61. processor; 62. memory; 63. communication interface. DETAILED DESCRIPTION

[0059] The present invention is further described in detail below in conjunction with specific embodiments:

[0060] The three-dimensional storage mobile platform includes electric transport vehicles, automatic guided vehicles, forklifts, electric pallet trucks and other vehicle models or the movable local device structures that constitute them.

[0061] The mobile platform runs to the target position to pick up and release goods through acceleration, constant speed, deceleration and other states. The mobile platform is executed according to V=at when accelerating and according to a fixed speed when constant speed. The deceleration control method provided by the present invention is particularly used for the deceleration operation stage of the mobile platform in the process of picking up and releasing goods.

[0062] See attached Figure 1 As shown, it is a flow chart of a deceleration control method provided by an embodiment of the present invention. This specification provides the method operation steps shown in the embodiment or flow chart, but based on conventional or non-creative labor, more or fewer operation steps may be included. The order of steps listed in the embodiment is only one way of executing the order of many steps, and does not represent the only execution order. When the actual system or server product is executed, it can be executed in the order of the method shown in the embodiment or the accompanying drawings. The deceleration control method includes:

[0063] Set the position where deceleration starts to the target position L M The distance between them is the deceleration interval, and the length of the deceleration interval is set to L1.

[0064] Set the turning point and pre-stop speed V in the deceleration range Y , V Y is a constant; the inflection point of the route divides the deceleration interval into a first deceleration interval and a second deceleration interval, and the length of the second deceleration interval is L2; ​​the mobile platform linearly decelerates in the first deceleration interval to reach the inflection point of the route.

[0065] It is usually hoped that the mobile platform will run at a higher speed, and the longer it runs at a higher speed, the higher the efficiency. Therefore, within the deceleration range, the greater the slope of the speed curve of the linear deceleration of the mobile platform, the faster the real-time running speed of the mobile platform, and the higher the efficiency.

[0066] Therefore, one of the embodiments provided by the present invention adopts a two-stage deceleration planning in advance during the deceleration operation process, and introduces an adjustment factor to adjust the lengths and corresponding times of the two deceleration intervals to improve efficiency. On the basis of improving efficiency, the mobile platform maintains linear deceleration to reduce mechanical damage to equipment components.

[0067] Specifically, the maximum speed value of the second deceleration interval is set, and the speed operation state of the first deceleration interval is limited by the maximum speed value of the second deceleration interval:

[0068] During the deceleration process, if the real-time speed of the first deceleration interval is not less than the maximum speed value of the second deceleration interval, the linear deceleration is maintained and the first deceleration interval is completed; if the real-time speed of the first deceleration interval is less than the maximum speed value of the second deceleration interval, the second deceleration interval is entered at the maximum speed of the second deceleration interval;

[0069] The mobile platform decelerates linearly in the second deceleration interval to reach the pre-stop speed V Y and at the pre-stop speed V Y Run the remaining distance to reach the target position L M .

[0070] Set the maximum speed (usually the rated speed) of the driving motor of the mobile platform to V S , the real-time position of the mobile platform is represented by L S Among them, V S It is a fixed value. The specific parameter value is related to the selection of the mobile platform motor.

[0071] Introduce tuning factors P1 and P2. P1 and P2 are set according to the actual application scenario and are known. Construct the running speed V of the driving motor of the mobile platform and the real-time position L of the mobile platform S The functional relationship between them.

[0072] In detail, the deceleration state of the mobile platform in the first deceleration interval and the second deceleration interval is as follows:

[0073] In the first deceleration interval:

[0074] Satisfying distance: L2<|L M -L S |≤L1, the real-time speed V1 is expressed as:

[0075] In the same deceleration scenario, the P1 value remains unchanged and the real-time position L M It keeps changing, but in different application scenarios, the larger the P1 value, the smaller the speed, and the smaller the P1 value, the larger the speed value.

[0076] The maximum speed value of the second deceleration interval is expressed as It can be seen that the limit value is related to P2. During the deceleration process in the first deceleration interval, the minimum speed value of the first deceleration interval is adjusted by changing the value of P2, thereby adjusting the length of the linear deceleration interval and the uniform speed interval in the first deceleration interval and the corresponding completion time.

[0077] If in the first deceleration interval, Then Maintain the linear deceleration state and complete the first deceleration interval; Then Run at a constant speed to the second deceleration zone.

[0078] In the second deceleration interval:

[0079] Meet the distance: |L M -L S |≤L2, the real-time speed V2 is expressed as:

[0080] The speed limit value of the second deceleration interval is expressed as the preset speed V Y , if in the second deceleration interval, V2 ≥ V Y , then Keep linear deceleration state and run to the pre-stop speed V Y , at the pre-stop speed V Y Run at a constant speed to reach the target position L M , where V Y = constant;

[0081] If in the second deceleration zone, V2 <V Y , then the pre-stop speed V Y Run to the target position L at a constant speed M .

[0082] In actual application, the length of the deceleration interval is different in different application scenarios, and the drive motors matched with the mobile platform are different, so the starting speed of entering the deceleration interval is different (because the set speed is different).

[0083] By setting the values ​​of P1 and P2, engineers or developers can adjust the deceleration interval according to actual conditions. By changing the value of P2, the slope of the speed curve can be changed; ideally, the speed should be reduced as slowly as possible, and the higher the speed, the longer the running time, the higher the efficiency.

[0084] In different application scenarios, as the value of P1 or P2 decreases, the length of the corresponding deceleration interval decreases. If P1 or P2 is 1, the deceleration interval is constant. If the P value is 0.8, the deceleration interval becomes 0.8 times.

[0085] In the same application scenario, according to the speed limit value related to P2, and based on the existence of a linear deceleration interval and a uniform speed operation interval; set the duration of the linear deceleration interval in the first deceleration interval to t1, and the duration of the uniform speed interval to t2; then,

[0086]

[0087] It can be seen from the formula that in order to improve efficiency, the values ​​of t1 and t2 are expected to be smaller. When the length of the first deceleration interval is fixed, the minimum speed value of V1 is adjusted by changing the value of P2. The larger the P2, the greater the slope of the speed curve in the linear deceleration stage in the first deceleration interval, and the less time it takes to reach the minimum speed faster. The longer the uniform speed operation interval in the second half, the higher the efficiency.

[0088] See attached Figure 3 , provides a curve diagram of the mobile platform's running speed change within the deceleration range under different P values, as shown in the attached Figure 4 As shown, a table of partial speed linear change values ​​corresponding to the curve change diagram is provided.

[0089] For example, setting the target position L M is 0, the set deceleration interval length L1 is 500, and the route turning point divides the deceleration interval into a first deceleration interval with a length of 400 and a second deceleration interval with a length of 100. Within the deceleration interval of 500, the ratio of the interval length and the corresponding completion time are adjusted by the P value to reach the set speed as soon as possible to improve efficiency.

[0090] The unit of the interval length may be millimeter, centimeter, or meter, and the appropriate length unit may be matched according to the application scenario.

[0091] Attach Figure 3Taking the comparative analysis of speed curves V3 and V4 in the figure as an example, under ideal conditions, the higher uniform speed in speed curve V4 is used to run uniformly to the target position and stop instantly, which is the most efficient. However, stopping instantly at a higher speed will cause greater mechanical damage to the equipment. The linear decrease of speed curve V3 will cause less mechanical damage to the equipment, but the efficiency will be low. It is necessary to adjust the length and running time of the linear deceleration interval and the uniform speed interval through parameter factors to achieve higher efficiency without damaging the mechanical parts of the equipment.

[0092] See attached Figure 5 The speed-time curve diagram in this embodiment shows that the deceleration interval is constant, from V S At the beginning, the whole process is linearly decelerated from V=kt to a speed curve of 0. The length of the deceleration interval is expressed as the sum of the block areas S1, S2, and S3, and the required time is T2.

[0093] The other interval represents a speed curve that first decelerates to a higher speed for uniform motion and then decelerates. The same deceleration interval length is represented by the sum of the block areas S1 and S4, and the required time is T1. T2 is greater than T1, which shows intuitively that during the deceleration process, there is a period of uniform motion at a higher speed. The higher the uniform speed, the longer the uniform motion time, and the higher the efficiency. The linear deceleration to zero method cannot run at a higher speed, and the efficiency is not high.

[0094] Moreover, compared with the prior art, which uses multi-stage, multiple decelerations, uniform speed, deceleration, uniform speed, etc., the embodiments of the present invention can improve efficiency by decelerating at a higher speed or running at a uniform speed in the deceleration interval, and can adjust the length ratio of each operating interval by adjusting the values ​​of parameter factors P1 and P2, so that the control is more precise. Through multiple experiments, it is possible to customize the adjustment to the optimal ratio state that is suitable for the application deceleration scenario, and control the operation of the mobile platform in this optimal state, thereby reducing time cost and improving efficiency.

[0095] It should be understood that according to the functional relationship in the method provided by the present invention, the speed changes in real time and is adjustable. The aforementioned deceleration method of linearly decelerating from V=kt to 0, and the method of decelerating at a constant speed after deceleration in the first deceleration interval and then decelerating are both specific scenario methods of the present method and are within the protection scope of the present invention.

[0096] See attached Figure 1, which is a schematic diagram of the system structure of a deceleration control system provided by an embodiment of the present invention, wherein the deceleration control system includes an encoder module 1, a driver module 2, a mobile platform control module 3, and a driving motor 5 of the mobile platform. The encoder module 1 and the driver module 2 are electrically connected to the mobile platform control module 3 respectively; the driver 2 adopts a frequency converter and is electrically connected to the driving motor 5; the mobile platform control module 3 adopts a PLC controller, and the frequency converter communicates with the PLC controller via messages.

[0097] The encoder 1 adopts a linear / rotary encoder, which is installed on the driving shaft of the mobile platform 4, and simultaneously obtains the real-time rotation speed of the driving motor 5 and the real-time position of the mobile platform, and transmits the obtained real-time rotation speed and real-time position to the mobile platform control module 3. The mobile platform control module 3 sends the real-time speed of the driving motor 5 to the driver module 2, and the driver module 2 outputs current signals of different sizes to the driving motor 5 to adjust the rotation speed of the driving motor 5, thereby adjusting the running speed of the mobile platform.

[0098] Taking the mobile platform using a fork as an example, the deceleration control method provided by the present invention can be used to customize the length of the deceleration zone and the corresponding time.

[0099] In the prior art, problems existing during the movement of the fork also include: when the stacker has two forks, two inverters are usually required to control them separately; when the stacker has dual-drive requirements, a master-slave / speed synchronization control method is usually used, which increases hardware costs; the inverter's built-in fork control algorithm needs to be matched with the tail encoder and position encoder connected to the fork, resulting in one inverter being able to control only one fork motor.

[0100] In one embodiment or other embodiments, a motor controls and drives the single-fork fork to operate, and is matched with a set of PLC controllers and a frequency converter.

[0101] In another embodiment or other embodiments, two identical drive motors are used to drive a pair of forks to operate, and a matching frequency converter switches and controls the two fork motors through a contactor.

[0102] Determine the target position, the set speed of the fork drive motor, the length of the deceleration interval, the length of the second deceleration interval, introduce the adjustment factor based on the type parameter of the fork drive motor, and construct a functional relationship between the rotation speed of the fork drive motor and the real-time position of the fork. According to the functional relationship (the functional relationship of the aforementioned mobile platform in the deceleration state in the first deceleration interval and the second deceleration interval), the mobile platform control module 3 controls the mobile platform to linearly decelerate in the deceleration interval.

[0103] The above-mentioned deceleration control method and system, when applied to the deceleration state control of the fork, only requires one frequency converter, which saves the motor tail encoder and the cable required for the tail encoder. One encoder simultaneously obtains real-time position and real-time speed information; when a pair of forks is driven by two motors, one frequency converter controls the operation of the two motors through contactor switching, which has a simpler structure and reduces costs.

[0104] An embodiment of the present invention also provides an electronic device, which includes a processor and a memory; the memory stores one or more instructions, and the one or more instructions are suitable for the processor to load and execute to implement the deceleration control method as described in the above method embodiment.

[0105] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store the operating system, application programs required for the function, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0106] Figure 6 The schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, the internal structure of the electronic device may include but is not limited to: a processor 61, a memory 62 and a communication interface 63, wherein the processor 61, the memory 62 and the communication interface 63 in the electronic device may be connected through a bus or other means, and the embodiment shown in this specification Figure 6 The example of connecting through bus is taken in the following.

[0107] Among them, the processor 61 (or CPU, Central Processing Unit, central processing unit) is the computing core and control core of the electronic device. The communication interface 63 is used for communication between the memory 62 and the processor 61. The memory 62 (Memory) is used to store programs and data. It can be understood that the memory here can be a high-speed RAM storage device, or a non-volatile storage device (non-volatile memory), such as at least one disk storage device; optionally, it can also be at least one storage device located away from the aforementioned processor. The memory provides a storage space, which stores the operating system of the electronic device, which may include but is not limited to: Windows system (an operating system), Linux system (an operating system), etc., and the present invention is not limited to this; and, a computer program (including program code) suitable for being loaded and executed by the processor is also stored in the storage space. In the embodiment of this specification, the processor 61 loads and executes the computer program stored in the memory 62 to implement the deceleration control method provided in the above method embodiment.

[0108] An embodiment of the present invention also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction, at least one program, code set or instruction set related to a deceleration control method in an embodiment of the method. The at least one instruction, at least one program, code set or instruction set can be loaded and executed by a processor of the electronic device to implement the deceleration control method provided in the above-mentioned method embodiment.

[0109] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0110] It should be noted that the sequence of the embodiments of the present invention described above is for description only and does not represent the advantages and disadvantages of the embodiments. The above describes specific embodiments of this specification, and other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0111] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0112] Those skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by programs instructing related hardware to accomplish the steps. The programs may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0113] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A deceleration control method, characterized in that: include: Setting a deceleration interval, and setting a route turning point and a pre-stop speed within the deceleration interval; The inflection point of the route divides the deceleration interval into a first deceleration interval and a second deceleration interval, and the mobile platform decelerates in the first deceleration interval to run to the inflection point of the route; Setting a maximum speed value of the second deceleration interval, and limiting the speed running state of the first deceleration interval by the maximum speed value of the second deceleration interval; During the deceleration process, if the real-time speed of the first deceleration interval is not less than the maximum speed value of the second deceleration interval, the linear deceleration is maintained to complete the first deceleration interval; if the real-time speed of the first deceleration interval is less than the maximum speed value of the second deceleration interval, the second deceleration interval is entered at the maximum speed of the second deceleration interval; The mobile platform linearly decelerates in the second deceleration interval to reach the pre-stop speed; The mobile platform runs the remaining distance at the pre-stop speed to reach the target position.

2. The deceleration control method according to claim 1, characterized in that: The distance between the starting deceleration position and the target position is set as the deceleration interval, the length of the deceleration interval is L1, and the target position is L M , the length of the second deceleration interval is L2, the pre-stop speed of the driving motor of the mobile platform is V Y , the set speed of the driving motor of the mobile platform is V S , the real-time location of the mobile platform S , introduce the parameter adjustment factors P1 and P2, and construct the speed V of the mobile platform and the real-time position L of the mobile platform S The functional relationship between , the deceleration state of the mobile platform in the first deceleration interval and the second deceleration interval is as follows: In the first deceleration interval, the distance meets: L2<|L M -L S |≤L1, In the first deceleration interval, the real-time speed V1 of the mobile platform driving motor is: If in the first deceleration interval, Then Run at a constant speed to the second deceleration zone, If in the first deceleration interval, Then After running the first deceleration interval; Meet the distance: |L M -L S |≤L2, then enter the second deceleration interval; the real-time speed V2 in the second deceleration interval is Linear deceleration operation; If in the second deceleration range, V2 ≥ V Y , then Linear deceleration operation reaches the pre-stop speed V Y , at the pre-stop speed V Y Run at a constant speed to reach the target position L M , where V Y = constant; If in the second deceleration zone, V2 <V Y , then the pre-stop speed V Y Run at a constant speed to the target position L M .

3. The deceleration control method according to claim 2, characterized in that: Construct the rotation speed V of the driving motor of the mobile platform and the real-time position L of the mobile platform S Before the functional relationship between them, the user customizes the values ​​of P1 and P2 according to the deceleration project scenario of the application; the user customizes the speed to V according to the driving motor type parameters of the mobile platform S By changing the value of P2, the minimum speed value of the first deceleration interval is adjusted, thereby adjusting the length of the linear deceleration interval and the uniform speed interval in the first deceleration interval and the corresponding completion time.

4. The deceleration control method according to claim 3, characterized in that: Assume that within the first deceleration interval, the duration of the linear deceleration interval is t1, and the duration of the uniform speed interval is t2; then, By changing the value of P2, the minimum speed of V1 is adjusted; the larger the P2 is, the greater the slope of the speed curve of the linear deceleration in the first deceleration interval is, the longer the uniform speed operation interval is, and the higher the efficiency is.

5. A deceleration control system, used to implement the deceleration control method according to any one of claims 1 to 4, characterized in that: include: An encoder module, installed on the mobile platform, for obtaining the real-time speed of the driving motor of the mobile platform and the real-time position of the mobile platform; A driver module, used for driving and controlling the running speed of the driving motor; The mobile platform control module is electrically connected to the encoder module and the driver module respectively. The mobile platform control module sends the real-time speed of the drive motor to the driver module. The driver module outputs a current signal to the drive motor to adjust the rotation speed of the drive motor, thereby adjusting the running speed of the mobile platform.

6. The deceleration control system according to claim 5, characterized in that: The mobile platform control module includes: An information receiving unit, used to receive the running speed collected by the driver module and the real-time position collected by the encoder module; Parameter setting unit, setting speed adjustment related parameter information, including: target position L M , the length of the deceleration interval L1, the position of the turning point in the deceleration interval, and the set speed V of the drive motor S , Pre-stop speed V Y , parameter adjustment factors P1 and P2, the distance inflection point divides the deceleration interval into a first deceleration interval and a second deceleration interval L2; The efficiency adjustment unit is based on the parameters set by the parameter setting module and the real-time position L obtained by the information receiving module. S and the running speed V, a functional relationship between the real-time speed of the drive motor and the real-time position of the mobile platform is constructed as follows: When L2<|L M -L S |≤L1, the speed V1 in the first deceleration interval is expressed as: if Then Run at a constant speed to the second deceleration zone and reach the turning point of the route; if Then After running the first deceleration interval; When |L M -L S |≤L2, the speed V2 in the second deceleration interval is expressed as: If V2 ≥ V Y , then The linear deceleration runs through the second deceleration interval and reaches the pre-stop speed V Y , at the pre-stop speed V Y Run at a constant speed to reach the target position L M , where V Y = constant; If V2 <V Y , then the pre-stop speed V Y Run at a constant speed to the target position L M ; According to the functional relationship between the real-time speed of the driving motor and the real-time position of the mobile platform, the linear deceleration state of the mobile platform in the deceleration range is controlled; Furthermore, by changing the value of P2, the minimum speed value of the speed V1 in the first deceleration interval is adjusted, and the lengths and corresponding times of the linear deceleration interval and the uniform speed interval in the first deceleration interval are adjusted.

7. The deceleration control system according to claim 5, characterized in that: The driver adopts a frequency converter, the mobile platform control module adopts a PLC controller, and the frequency converter communicates with the PLC controller via messages.

8. The deceleration control system according to claim 7, characterized in that: The mobile platform is configured as a fork motor. When two identical drive motors are used to drive a pair of forks to operate, a frequency converter switches and controls the two drive motors through a contactor.

9. An electronic device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the deceleration control method as described in any one of claims 1-4.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the deceleration control method as described in any one of claims 1-4.

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