Deceleration control method, system, electronic device and storage medium

Abstract

The present invention relates to the technical field of parking control, and in particular to a deceleration control method and system, wherein a deceleration interval is set, and a distance inflection point and a pre-stop speed are set within the deceleration interval; the distance inflection point divides the deceleration interval into a first deceleration interval and a second deceleration interval; the speed running state of the first deceleration interval is limited by the maximum speed value of the second deceleration interval; the mobile platform linearly decelerates within the second deceleration interval to reach the pre-stop speed, and runs the remaining distance at the pre-stop speed to reach the target position, and introduces parameter adjustment factors P1 and P2 to construct a functional relationship between the real-time speed of the drive motor and the real-time position of the mobile platform. The parameter adjustment 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. The user can customize the deceleration state and is 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.

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 adopts 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. The frequency converter can generate a speed change curve internally. The frequency converter outputs voltage, frequency and other parameters according to the curve to control the motor to move at the set speed, thereby controlling the speed and position of the mobile platform.

[0003] Using the driver's own algorithm has the following disadvantages:

[0004] 1) The control algorithm is provided by the inverter manufacturer, and users 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 inverter manufacturer's built-in control algorithm for mobile platforms typically uses a multi-stage control method: the platform's axis travels in different stages, each assigned a different, yet fixed, speed. However, multi-stage speed control is subject to limitations in distance and speed, requiring multiple adjustments and testing based on specific site conditions. Otherwise, the machine can experience jitter.

[0007] 4) The inverter's built-in mobile platform control algorithm 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 the mobile platform control algorithm of the inverter is limited and it is difficult to adapt to specific application scenarios and adjust the control algorithm to a better usage state.

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

[0011] A deceleration interval is set, and a distance inflection point and a pre-stop speed are set within the deceleration interval; the distance inflection 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 the distance inflection point;

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

[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 position of deceleration 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, and 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 , real-time location of mobile platform L 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 the following conditions: 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 zone, Then Run at a constant speed to the second deceleration zone,

[0020] If in the first deceleration zone, 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 based on 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 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 of the linear deceleration interval is set to t1, and the duration of 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 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, comprising:

[0029] The 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 to drive and control the operating speed of the drive 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 speed of the drive motor, thereby adjusting the operating speed of the mobile platform.

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

[0033] an information receiving unit, configured to receive the operating speed acquired by the driver module and the real-time position acquired 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 inflection 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, the 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] Controlling the linear deceleration state of the mobile platform within the deceleration range according to the functional relationship between the real-time speed of the drive motor and the real-time position of the mobile platform;

[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. 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 segment, wherein the at least one instruction or the at least one program segment 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 inflection point for the deceleration interval and sets the speed. The distance inflection 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 high real-time speed in the deceleration interval, thereby improving the operating efficiency. In addition, since the mobile platform operates in the deceleration interval in a linearly changing state, compared with multi-speed control, the overall operating speed of the mobile platform is smoother and the damage to the motor is less.

[0050] (2) By introducing the tuning factors P1 and P2, a functional relationship is established between the motor speed of the mobile platform and the real-time position of the mobile platform axis. 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 with reference to the accompanying drawings and embodiments:

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

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

[0054] Figure 3 Schematic diagram of the speed curve in the deceleration range under different P value states provided by the present invention;

[0055] Figure 4 The linear speed change table in the deceleration range under different P value states provided by the present invention;

[0056] Figure 5 A schematic diagram showing a comparison of speed curves in the embodiments provided by the present invention;

[0057] Figure 6 A schematic structural diagram 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 will be described in further detail below with reference to 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 place goods through acceleration, constant speed, deceleration and other states. When the mobile platform accelerates, it is executed according to V=at, and when it is constant speed, it is executed according to a fixed speed. The deceleration control method provided by the present invention is particularly used for the deceleration operation stage of the mobile platform during the process of picking up and placing goods.

[0062] Refer to the 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 work, 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 starting position of deceleration to the target position L M The distance between them is the deceleration zone, and the length of the deceleration zone is set to L1.

[0064] Set the inflection 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 generally desirable for a mobile platform to operate at a higher speed, and the longer it maintains this higher speed, the higher its efficiency. Therefore, within the deceleration range, the greater the slope of the mobile platform's linear deceleration curve, the faster the mobile platform's real-time operating speed and the higher its efficiency.

[0066] Therefore, one of the embodiments provided by the present invention adopts a two-stage deceleration planning in advance for the deceleration operation process, and adjusts the length and corresponding time of the two deceleration intervals by introducing an adjustment factor 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 range 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 of the driving motor of the mobile platform (usually the rated speed) to V S , the real-time position of the mobile platform is represented as 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 the parameter factors P1 and P2. P1 and P2 are set according to the actual application scenario and are known to 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 states of the mobile platform in the first deceleration interval and the second deceleration interval are as follows:

[0073] In the first deceleration range:

[0074] Satisfactory 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 this 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 zone, 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 range:

[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 range, 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, different application scenarios have different lengths of deceleration intervals, and the driving 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 range according to actual conditions. Changing the value of P2 changes the slope of the speed curve. Ideally, the slower the speed is, the better, maintaining a higher speed and a longer running time will increase 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 linear deceleration interval and 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 P2 is, 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. Therefore, the longer the uniform speed operation interval in the second half, the higher the efficiency.

[0088] Refer to the 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 some speed linear change values corresponding to the curve change diagram is provided.

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

[0090] The unit of interval length can be millimeters, centimeters, or meters, and the appropriate length unit is 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 to the target position at a uniform speed and then 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 lower. 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] Refer to the attached Figure 5 The speed-time curve diagram in this embodiment shows a constant deceleration interval, from V S At the beginning, the entire 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 section shows a velocity curve that first decelerates to a higher speed, then moves at a constant speed, and then decelerates again. The length of the same deceleration section is represented by the sum of the block areas S1 and S4, and the time required is T1. T2 is greater than T1, indicating that during the deceleration process, there is a period of constant motion at a higher speed. The higher the constant speed and the longer the constant motion, the higher the efficiency. Linear deceleration to zero cannot maintain high speeds and is inefficient.

[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 zone, and can adjust the length ratio of each operating zone by adjusting the values of the 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 this method and are within the scope of protection of the present invention.

[0096] Refer to the attached Figure 1, which shows a system structure diagram of a deceleration control system provided by an embodiment of the present invention. 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] Encoder 1, a linear / rotary encoder, is mounted on the drive shaft of mobile platform 4. It simultaneously acquires the real-time rotational speed of drive motor 5 and the real-time position of the mobile platform, and transmits these real-time rotational speed and position to mobile platform control module 3. Mobile platform control module 3 transmits the real-time speed of drive motor 5 to driver module 2, which then outputs current signals of varying magnitudes to drive motor 5 to adjust its rotational speed, thereby adjusting the operating 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 existing technology, problems existing during the movement of the fork include: when the stacker has two forks, two frequency converters 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 fork control algorithm of the frequency converter needs to be matched with the tail encoder and position encoder connected to the fork, resulting in one frequency converter 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 PLC controller 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, and the length of the second deceleration interval. Introduce a parameter adjustment factor based on the type parameter of the fork drive motor, and construct a functional relationship between the speed of the fork drive motor and the real-time position of the fork. According to this functional relationship (the functional relationship of the deceleration state of the aforementioned mobile platform 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. The program storage area can store the operating system, application programs required for functions, etc.; the data storage area can store data created based on the use of the device, etc. In addition, the memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, 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 This is a 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 can be connected by a bus or other means. Figure 6 The bus connection is taken as an example.

[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 memory 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, the storage space also stores a computer program (including program code) suitable for being loaded and executed by the processor. 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 by 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 a method embodiment. 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 by 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 order of the embodiments of the present invention described above is for illustrative purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification, and other embodiments are within the scope of the appended claims. In some cases, the actions or steps described 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 accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0111] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0112] Those skilled in the art will appreciate that all or part of the steps for implementing 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 and 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 the inflection point of the route; Setting a maximum speed value for the second deceleration interval, and limiting the speed operation state of the first deceleration interval by the maximum speed value for 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 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; 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 and reaches the target position; The distance between the starting position of deceleration and the target position is set as the deceleration interval, and the length of the deceleration interval is , the target location is The length of the second deceleration interval is , the pre-stop speed of the driving motor of the mobile platform is , the set speed of the driving motor of the mobile platform is , real-time location of mobile platforms , introduce the parameter adjustment factor and , construct the speed V of the mobile platform and the real-time position of the mobile platform 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 the following requirements: , In the first deceleration interval, the real-time speed of the mobile platform drive motor is : ; If in the first deceleration zone, , then Run at a constant speed to the second deceleration zone, If in the first deceleration zone, , then After running the first deceleration interval; Satisfaction distance: , then enter the second deceleration zone; Real-time speed in the second deceleration zone ,according to Linear deceleration operation; If in the second deceleration zone, , then Linear deceleration operation reaches the pre-stop speed , at the pre-stop speed Run at a constant speed to reach the target position ,in, ; If in the second deceleration zone, , then the pre-stop speed Run to the target position at a constant speed .

2. The deceleration control method according to claim 1, characterized in that: Construct the speed V of the driving motor of the mobile platform and the real-time position of the mobile platform Before the functional relationship between the two, the user customizes the settings according to the deceleration project scenario of the application. and The user can customize the speed according to the driving motor type parameters of the mobile platform. , by changing the The value of is used to adjust the minimum speed value of the first deceleration interval, thereby adjusting the length of the linear deceleration interval and the uniform speed interval in the first deceleration interval and the corresponding completion time.

3. The deceleration control method according to claim 2, characterized in that: Set the duration of the linear deceleration interval in the first deceleration interval to , the duration of the uniform speed interval is ;but, ； By changing the The value of the adjustment limit Minimum speed; The larger it is, the greater the slope of the speed curve of linear deceleration in the first deceleration interval, the longer the uniform speed operation interval is, and the higher the efficiency is.

4. A deceleration control system for implementing the deceleration control method according to any one of claims 1 to 3, characterized in that: include: An encoder module, mounted on the mobile platform, for obtaining the real-time speed of the drive motor of the mobile platform and the real-time position of the mobile platform; A driver module, used to drive and control the operating speed of the drive 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 speed of the drive motor, thereby adjusting the operating speed of the mobile platform.

5. The deceleration control system according to claim 4, characterized in that: The mobile platform control module includes: an information receiving unit, configured to receive the operating speed acquired by the driver module and the real-time position acquired by the encoder module; Parameter setting unit, setting speed adjustment related parameter information, including: target position , deceleration interval length , the position of the inflection point in the deceleration range, and the set speed of the drive motor , Pre-stop speed , parameter adjustment factor and The deceleration interval is divided into a first deceleration interval and a second deceleration interval by the inflection point. ; The efficiency adjustment unit is based on the parameters set by the parameter setting module and the real-time position obtained by the information receiving module. And the running speed V, the 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 , the speed in the first deceleration interval 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 , the speed in the second deceleration interval Expressed as: ; if , then After the linear deceleration runs through the second deceleration zone, the pre-stop speed is reached. , at the pre-stop speed Run at a constant speed to reach the target position ,in, ; if , then the pre-stop speed Run to the target position at a constant speed ; Controlling the linear deceleration state of the mobile platform within the deceleration range according to the functional relationship between the real-time speed of the drive motor and the real-time position of the mobile platform; And, by changing The value of , adjust the speed in the first deceleration zone The minimum speed value is used to adjust the length and corresponding time of the linear deceleration interval and the uniform speed interval in the first deceleration interval.

6. The deceleration control system according to claim 4, 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.

7. The deceleration control system according to claim 6, 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.

8. 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 according to any one of claims 1 to 3.

9. 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 according to any one of claims 1 to 3.

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