Device control method, device and storage medium

Abstract

The present application provides a device control method, apparatus and storage medium, which relate to the field of intelligent control technology and can improve the effect of suppressing residual vibration of the device. The method includes: obtaining the damped oscillation period and period decay rate of the mobile device; dividing the pre-planned movement time of the mobile device into multiple time periods based on the damped oscillation period, and determining the movement information of the mobile device in each of the multiple time periods based on the period decay rate; and controlling the movement of the mobile device based on the movement information in each time period.

Description

Technical Field

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

[0002] High-speed and high-frequency mobile equipment (for example, semiconductor die bonders and semiconductor chip mass transfer equipment) usually requires frequent high-speed positioning movements. During the acceleration and deceleration of the positioning movement, the speed and even the acceleration of the equipment are constantly changing, causing the equipment to quickly transition from one motion state to another. When the rigidity of the working end of the equipment is not strong enough, or the movement changes dramatically, the working end of the equipment will produce significant unexpected vibrations during the transition process, resulting in large residual vibrations of the equipment.

[0003] At present, the residual vibration after the motion state of the equipment changes is reduced by reducing the rate of change of the motion state of the equipment, or using a smooth motion curve for motion planning to control the motion of the equipment, or adding a control link specifically for vibration suppression to reduce the residual vibration of the equipment. However, these methods are less effective in suppressing the residual vibration of the equipment. Summary of the invention

[0004] The present application provides a device control method, apparatus and storage medium, which can improve the effect of suppressing residual vibration of the device.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a device control method, the method comprising: obtaining a damped oscillation period and a period decay rate of a mobile device; dividing a pre-planned movement time of the mobile device into a plurality of time periods based on the damped oscillation period, and determining the movement information of the mobile device in each of the plurality of time periods based on the period decay rate; and controlling the movement of the mobile device based on the movement information in each time period.

[0007] In one possible implementation, based on the damped oscillation period, the pre-planned movement time of the mobile device is divided into multiple time periods, including: determining the duration of each time period in the multiple time periods, the duration of each time period is the same, the duration is the ratio of the damped oscillation period to a preset coefficient, and the preset coefficient is an integer greater than or equal to 2; according to the duration of each time period, the pre-planned movement time of the mobile device is divided into multiple time periods.

[0008] In one possible implementation, the motion information of a mobile device in each of a plurality of time periods is determined based on a periodic decay rate, including: determining an original control sequence corresponding to the plurality of time periods, the original control sequence including a vector corresponding to each time period, and the sum of the vectors corresponding to each time period being 0; and determining the motion information of the mobile device in each of the plurality of time periods based on the original control sequence and the periodic decay rate.

[0009] In one possible implementation, based on the original control sequence and the periodic attenuation rate, the motion information of the mobile device in each of multiple time periods is determined, including: based on the original control sequence and the periodic attenuation rate, a planned control sequence is determined, the planned control sequence includes a numerical value corresponding to each time period; for each time period, based on the numerical value corresponding to the time period, the motion information of the mobile device in the time period is determined.

[0010] In one possible implementation, a planned control sequence is determined based on an original control sequence and a periodic decay rate, including: when the difference between the pre-planned movement time of the mobile device and the damped oscillation period is greater than a preset threshold, the pre-planned movement time of the mobile device is divided into a movement start segment, a movement hold segment, and a movement end segment; based on the original control sequence and the periodic decay rate, a planned control sequence corresponding to the movement start segment is determined; and the planned control sequence corresponding to the movement start segment is scaled, shifted, and added to determine the planned control sequence, the planned control sequence including the movement information of the mobile device in the movement start segment, the movement information in the movement hold segment, and the movement information in the movement end segment.

[0011] In a possible implementation, after the mobile device completes the movement according to the movement information of multiple time periods, the method further includes: correcting the damped oscillation period and period attenuation rate of the mobile device according to the residual vibration characteristic data of the mobile device.

[0012] In a second aspect, the present application provides a device control apparatus, which includes: an acquisition unit, a processing unit and a control unit; the acquisition unit is used to acquire the damped oscillation period and period decay rate of the mobile device; the processing unit is used to divide the pre-planned movement time of the mobile device into multiple time periods based on the damped oscillation period, and determine the movement information of the mobile device in each of the multiple time periods based on the period decay rate; the control unit is used to control the movement of the mobile device based on the movement information in each time period.

[0013] In one possible implementation, the processing unit is further used to determine the duration of each of the multiple time periods, the duration of each time period is the same, the duration is the ratio of the damped oscillation period to a preset coefficient, and the preset coefficient is an integer greater than or equal to 2; the processing unit is also used to divide the pre-planned movement time of the mobile device into multiple time periods according to the length of each time period.

[0014] In one possible implementation, the processing unit is further used to determine an original control sequence corresponding to multiple time periods, where the original control sequence includes a vector corresponding to each time period, and the sum of the vectors corresponding to each time period is 0; the processing unit is further used to determine the motion information of the mobile device in each of the multiple time periods based on the original control sequence and the periodic attenuation rate.

[0015] In one possible implementation, the processing unit is further used to determine a planned control sequence based on the original control sequence and the periodic attenuation rate, where the planned control sequence includes a numerical value corresponding to each time period; for each time period, the processing unit is further used to determine the motion information of the mobile device within the time period based on the numerical value corresponding to the time period.

[0016] In one possible implementation, when the difference between the pre-planned movement time of the mobile device and the damped oscillation period is greater than a preset threshold, the processing unit is further used to divide the pre-planned movement time of the mobile device into a movement start segment, a movement hold segment, and a movement end segment; the processing unit is further used to determine the planned control sequence corresponding to the movement start segment based on the original control sequence and the periodic attenuation rate; the processing unit is further used to scale, shift, and add the planned control sequence corresponding to the movement start segment to determine the planned control sequence, wherein the planned control sequence includes the movement information of the mobile device in the movement start segment, the movement information in the movement hold segment, and the movement information in the movement end segment.

[0017] In a possible implementation, after the mobile device completes movement according to the movement information of multiple time periods, the processing unit is further used to correct the damped oscillation period and period attenuation rate of the mobile device according to the residual vibration characteristic data of the mobile device.

[0018] In a third aspect, the present application provides a device control device, comprising: a processor and a communication interface; the communication interface and the processor are coupled, and the processor is used to run a computer program or instructions to implement the device control method described in the first aspect and any possible implementation method of the first aspect.

[0019] In a fourth aspect, the present application provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a terminal, the terminal executes the device control method described in the first aspect and any possible implementation of the first aspect.

[0020] In a fifth aspect, the present application provides a computer program product comprising instructions, which, when executed on a device control apparatus, enables the device control apparatus to execute the device control method as described in the first aspect and any possible implementation of the first aspect.

[0021] In a sixth aspect, the present application provides a chip, the chip comprising a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run a computer program or instructions to implement a device control method as described in the first aspect and any possible implementation of the first aspect.

[0022] Specifically, the chip provided in the present application also includes a memory for storing computer programs or instructions.

[0023] The above technical solution brings at least the following beneficial effects: obtaining the damped oscillation period and period decay rate of the mobile device, dividing the pre-planned movement time of the mobile device into multiple time periods based on the damped oscillation period, determining the movement information of the mobile device in each of the multiple time periods based on the period decay rate, and controlling the movement of the mobile device based on the movement information in each time period. In other words, the device control method provided in the embodiment of the present application performs motion planning based on the actual vibration characteristics of the mobile device, generates different planning results for different motion types, can ensure the rapidity and stability of the changes in various motion states of the device, and can thus improve the effect of suppressing the residual vibration of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the composition of a device control device provided in an embodiment of the present application;

[0025] Figure 2 A flow chart of a device control method provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of an oscillation waveform of a mobile device provided in an embodiment of the present application;

[0027] Figure 4 A flowchart of another device control method provided in an embodiment of the present application;

[0028] Figure 5 A schematic diagram of an original control sequence provided in an embodiment of the present application;

[0029] Figure 6 A schematic diagram of synthesizing a long-term original control sequence provided in an embodiment of the present application;

[0030] Figure 7A flowchart of another device control method provided in an embodiment of the present application;

[0031] Figure 8 A schematic diagram of a planning control sequence provided in an embodiment of the present application;

[0032] Fig. 9 A schematic diagram of an acceleration standard control sequence provided in an embodiment of the present application;

[0033] Fig.10 A schematic diagram of an acceleration, velocity and displacement curve provided in an embodiment of the present application;

[0034] Fig.11 A schematic diagram of another acceleration, velocity and displacement curve provided in an embodiment of the present application;

[0035] Fig.12 A flowchart of another device control method provided in an embodiment of the present application;

[0036] Fig.13 A schematic diagram of the structure of a device control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] The device control method, apparatus and storage medium provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0038] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0039] The terms "first" and "second" and the like in the specification and drawings of this application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0040] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0041] It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0042] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0043] As described in the above background technology, the quality of the working end of the equipment, the elastic connection and the motion control system of the equipment will affect the transition process of the equipment's motion state change, thereby generating residual vibration. For a die bonder with high precision requirements, on the one hand, the residual vibration causes the speed of the die bonder's working end to fluctuate significantly during acceleration, resulting in unstable movement; on the other hand, when the die bonder moves at high speed to the target position and stops quickly, the residual vibration causes the die bonder's working end to be unable to accurately reach the target position for a long time, thereby seriously affecting the operating efficiency and precision, and even causing the equipment to not operate normally.

[0044] At present, the harm of residual vibration can be reduced by reducing the working speed of the equipment or increasing the waiting time, but this reduces the efficiency of the equipment, seriously affects the production efficiency, and then affects the delivery time and increases the cost. Therefore, it is necessary to reduce the residual vibration without reducing the efficiency of the equipment as much as possible, so as to achieve high-speed, high-frequency and high-reliability operation of the equipment.

[0045] Furthermore, the residual vibration after the motion state of the equipment changes can be reduced by using a smooth motion curve for motion planning or adding a control link specifically for vibration suppression.

[0046] However, the above-mentioned equipment control methods either ignore the vibration characteristics of the equipment for planning, or use a fixed vibration suppression link. When the control model is mismatched and the equipment motion state changes greatly, the vibration suppression ability will decrease, and the vibration suppression effect under various motion state changes cannot be taken into account.

[0047] In view of this, an embodiment of the present application provides a device control method, which includes: obtaining the damped oscillation period and period decay rate of the mobile device, dividing the pre-planned movement time of the mobile device into multiple time periods based on the damped oscillation period, determining the movement information of the mobile device in each of the multiple time periods based on the period decay rate, and controlling the movement of the mobile device based on the movement information in each time period. In other words, the device control method provided in the embodiment of the present application performs motion planning based on the actual vibration characteristics of the mobile device, generates different planning results for different motion types, can ensure the rapidity and smoothness of the changes in various motion states of the device, and can thus improve the effect of suppressing the residual vibration of the device.

[0048] The application scenarios of the embodiments of the present application are not limited. The system architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It is known to those skilled in the art that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0049] Figure 1 1 is a schematic diagram of a device control device 10 provided in an embodiment of the present application. The device control device 10 may be an electronic device or a chip or system on chip in an electronic device. Figure 1 As shown, the device control apparatus 10 may include a processor 101 and a bus 102 .

[0050] Furthermore, the device control apparatus 10 may also include a communication interface 103 and a memory 104 . The processor 101 , the memory 104 and the communication interface 103 may be connected via a bus 102 .

[0051] The processor 101 is a central processing unit (CPU), a general processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 101 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0052] The bus 102 is used to transmit information between the components included in the device control apparatus 10 .

[0053] The communication interface 103 is used to communicate with other devices or other communication networks. The other communication networks may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The communication interface 103 may be a module, a circuit, a communication interface or any device capable of realizing communication.

[0054] The memory 104 is used to store instructions, where the instructions may be computer programs.

[0055] The memory 104 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0056] It should be noted that the memory 104 can exist independently of the processor 101 or can be integrated with the processor 101. The memory 104 can be used to store instructions or program codes or some data, etc. The memory 104 can be located in the device control device 10 or outside the device control device 10, without limitation. The processor 101 is used to execute the instructions stored in the memory 104 to implement the device control method provided in the following embodiments of the present application.

[0057] In an example, the processor 101 may include one or more CPUs, for example, CPU0 and CPU1 (not shown in the figure).

[0058] As an optional implementation, the device control apparatus 10 includes multiple processors.

[0059] As an optional implementation, the device control apparatus 10 further includes an output device and an input device. For example, the input device is a keyboard, a mouse, a microphone, a joystick, and the like, and the output device is a display screen, a speaker, and the like.

[0060] It should be noted that the device control device 10 can be a desktop computer, a portable computer, a network server, a mobile phone, a tablet computer, a wireless terminal, an embedded device, a chip system or a Figure 1 In addition, Figure 1 The composition shown in the Figure 1 The limitations of each device in Figure 1 In addition to the parts shown, Figure 1 The various devices in the drawings may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0061] In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices.

[0062] In addition, the actions, terms, etc. involved in the various embodiments of the present application can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiments of the present application is only an example, and other names can also be used in the specific implementation without limitation.

[0063] The device control method provided by the embodiment of the present application is described below in conjunction with the accompanying drawings. Among them, the actions, terms, etc. involved in the various embodiments of the present application can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiment of the present application is only an example, and other names can also be used in the specific implementation without limitation. The actions involved in the various embodiments of the present application are only an example, and other names can also be used in the specific implementation, such as: "included in" in the embodiment of the present application can also be replaced by "carried on" or "carried on", etc.

[0064] like Figure 2 As shown, the embodiment of the present application proposes a device control method, the method comprising:

[0065] S201. The electronic device obtains a damped oscillation period and a period attenuation rate of the mobile device.

[0066] Mobile equipment refers to complete equipment or the working end of a complete equipment that requires high-frequency movement, high acceleration and deceleration, and stable operation. Electronic equipment can be located inside the complete equipment or independent of the complete equipment.

[0067] It should be noted that the damped oscillation period and period decay rate are both vibration characteristics of mobile equipment. The damped oscillation period can be expressed as T d Indicates that T d =2π / ω d Among them, ω d represents the damped oscillation frequency. The periodic decay rate can be represented by η, Here, ζ represents the damping ratio.

[0068] For example, Figure 3 A schematic diagram of an oscillation waveform of a mobile device provided in an embodiment of the present application. Figure 3 As shown, the horizontal axis is time (time), the unit is seconds, and the vertical axis is amplitude (amplitude). The above damped oscillation period T d Corresponding to the time interval between two adjacent peaks in the figure, the periodic decay rate η corresponds to the ratio a / b between the differences between two adjacent positive peaks and the target value (ie, 1.0 on the vertical axis in the figure).

[0069] In a possible implementation, the electronic device can collect the residual vibration curve of the mobile device during the change of the motion state, and determine the natural frequency ω of the mobile device through system identification. n and damping ratio ζ, calculate the damped oscillation frequency Then, according to the above formula T d =2π / ω d and The damped oscillation period and period decay rate are obtained.

[0070] Among them, the above-mentioned method of determining the natural frequency and the damping ratio by system identification is a prior art and will not be described in detail here.

[0071] In another possible implementation, the electronic device can calculate the damped oscillation period and period decay rate through the system model of the mobile device. Specifically, the following system transfer function is obtained according to the system model:

[0072]

[0073] Among them, B>0, C>0, when the device is oscillating, B 2 -4C<0, the natural frequency of the device can be obtained Damping ratio Then the damped oscillation period and period decay rate can be calculated.

[0074] S202: The electronic device divides the pre-planned movement time of the mobile device into a plurality of time periods based on the damped oscillation period, and determines the movement information of the mobile device in each of the plurality of time periods based on the periodic attenuation rate.

[0075] The pre-planned movement time of the mobile device may be the movement time directly calculated according to the acceleration and / or speed limit of the mobile device, or may be the expected movement time. The movement information may be acceleration information, speed information or displacement information.

[0076] In a possible implementation, the electronic device determines the duration of each of the multiple time periods, and divides the pre-planned movement time of the mobile device into multiple time periods according to the duration of each time period. The electronic device determines the original control sequence corresponding to the multiple time periods, and determines the movement information of the mobile device in each of the multiple time periods according to the original control sequence and the periodic decay rate. Figure 4 The described embodiments are not described in detail here.

[0077] S203: The electronic device controls the movement of the mobile device based on the movement information in each time period.

[0078] In a possible implementation, the electronic device generates a control instruction based on the motion information in each time period, and sends the control instruction to the motor driver corresponding to the mobile device. Accordingly, the motor driver receives the control instruction from the electronic device and controls the movement of the mobile device according to the control instruction.

[0079] Exemplarily, the control instruction may be an acceleration instruction, a speed instruction or a displacement instruction. Of course, the above is only an exemplary description of the control instruction, and the above control instruction may also be other instructions, and the embodiment of the present application does not impose any limitation on this.

[0080] In the device control method provided by the present application, the electronic device obtains the damped oscillation period and period decay rate of the mobile device, divides the pre-planned movement time of the mobile device into multiple time periods based on the damped oscillation period, determines the movement information of the mobile device in each of the multiple time periods based on the period decay rate, and controls the movement of the mobile device based on the movement information in each time period. In other words, the device control method provided by the embodiment of the present application performs movement planning based on the actual vibration characteristics of the mobile device, generates different planning results for different movement types, can ensure the rapidity and stability of the changes in various movement states of the device, and can thus improve the effect of suppressing the residual vibration of the device.

[0081] In one embodiment, Figure 4 As shown, the above S202 can be specifically determined through the following S401 to S404.

[0082] S401. The electronic device determines the duration of each time period among a plurality of time periods.

[0083] The duration of each time period is the same, and the duration is the ratio of the damped oscillation period to the preset coefficient.

[0084] Exemplarily, the above preset coefficient can be represented by k, k≥2, k is an integer, and the damped oscillation period is represented by T d , and then the electronic device can obtain the duration of each time period as T d / k.

[0085] S402: The electronic device divides the pre-planned exercise time of the mobile device into a plurality of time periods according to the length of each time period.

[0086] In a possible implementation, the electronic device uses the duration T of each time period to d / k is the time unit, and the pre-planned movement time of the mobile device is recorded as T 全 , put T 全 Set to an integer multiple of the length of each time period, so that T 全 It can be divided into n time periods. n≥2, where n is a positive integer.

[0087] It should be noted that the electronic device plans the movement process of the mobile device using the length of the time period as a time unit, and the planned movement time is an integer multiple of the length of the time period.

[0088] S403: The electronic device determines original control sequences corresponding to multiple time periods.

[0089] The original control sequence includes a vector corresponding to each time period, and the sum of the vectors corresponding to each time period is 0.

[0090] For example, the vector corresponding to each time period can be expressed as a complex number: Among them, r j Indicates the modulus length corresponding to the time period labeled j. j is the argument corresponding to the time period labeled j, θ j =2πj / k. When j=0, r j =1,θ j =0.

[0091] Combining the above example, the sum of the vectors corresponding to each time period is 0, which can be expressed as the following formula 1.

[0092]

[0093] Wherein, j represents the number of each time period, ranging from 0 to n. j Indicates the modulus length corresponding to the time period labeled j. j is the argument corresponding to the time period labeled j, θ j =2πj / k. k represents a preset coefficient. Represents the vector corresponding to the time period labeled j.

[0094] Specifically, the electronic device can be based on the above T 全 With T dThe size relationship between them is used to determine the original control sequence corresponding to the multiple time periods. Specifically, it may include the following cases 1 to 3.

[0095] Case 1, T 全 =T d

[0096] In this case, k and n have the same value, and the modulus length r corresponding to each time period is j Can be both 1.

[0097] In one example, k=2, n=2, r0=r1=1, according to the above formula 1, the vectors corresponding to each time period are 1, e iπ , that is, the original control sequence is (1,e iπ ).

[0098] Another example, k=3, n=3, r0=r1=r2=1, according to the above formula 1, it can be obtained that the vectors corresponding to each time period are 1, That is, the original control sequence is

[0099] Case 2, T 全 <T d

[0100] In this case, the value of n is less than k, and the modulus length r corresponding to each time period j Can be positive or negative.

[0101] For example, k=6, n=3, r0=r2=1, r1=-1, according to the above formula 1, we can get the vectors corresponding to each time period as 1, That is, the original control sequence is

[0102] Figure 5 A schematic diagram of an original control sequence provided in an embodiment of the present application. Figure 5 As shown, Figure 5 The a in the expression represents the original control sequence. The corresponding vector, Figure 5 The b in the code represents the original control sequence. The corresponding vector.

[0103] Case 3, T 全 >T d

[0104] In this case, one example is to directly select the value of n and r j For example, k = 2, n = 3, r0 = r2 = 1, r1 = 2, according to the above formula 1, we can get the vectors corresponding to each time period as 1, 2e iπ 、ei2π , that is, the original control sequence is (1, 2e iπ , e i2π ).

[0105] In another example, the original control sequence corresponding to the smaller n value may be scaled, rotated, and superimposed to obtain the original control sequence for the larger n value.

[0106] For example, Figure 6 A schematic diagram of synthesizing a long-term original control sequence provided in an embodiment of the present application. Figure 6 As shown, the short-term original control sequence (1,2e iπ ,e i2π ) is scaled twice and rotated by an angle π and then superimposed to obtain the long-term original control sequence (1,4e iπ ,6e i2π ,4e i3π ,e i4π ).

[0107] Preferably, if k=2, n≥3, the original control sequence can be determined by the following formula 2.

[0108]

[0109] Wherein, j represents the number of the time period, and n represents the total number of time periods.

[0110] According to the above formula 2, when n=3, the original control sequence (1,2e iπ ,e i2π ). When n=4, the original control sequence is (1,3e iπ ,3e i2π ,e i3π ). When n = 5, the original control sequence (1,4e iπ , 6e i2π ,4e i3π ,e i4π ).

[0111] S404: The electronic device determines the motion information of the mobile device in each of the multiple time periods based on the original control sequence and the periodic decay rate.

[0112] In a possible implementation, the electronic device determines the planned control sequence based on the original control sequence and the periodic decay rate, and determines the motion information of the mobile device in each of the multiple time periods according to the value corresponding to each time period in the planned control sequence. Figure 7 The embodiments described are not described in detail here.

[0113] In one embodiment, Figure 7As shown, the above S404 can be specifically determined through the following S701 to S702.

[0114] S701: The electronic device determines a planned control sequence based on an original control sequence and a periodic attenuation rate.

[0115] The planning control sequence includes the values ​​corresponding to each time period. For example, the planning control sequence may be (1, 1.5, 0.75, 0.125).

[0116] In a possible implementation, the electronic device may determine the planned control sequence according to the following formula 3.

[0117]

[0118] Among them, u jn Indicates the value corresponding to the time period labeled j, r j represents the modulus corresponding to the time period labeled j, η represents the periodic attenuation rate, and k represents the preset coefficient.

[0119] According to the above formula 3, for each planning control sequence, the first term is r0η 0 = 1. Further, the electronic device can obtain the value corresponding to each time period according to Formula 3, and then obtain the planned control sequence.

[0120] For example, Figure 8 A schematic diagram of a planning control sequence provided in an embodiment of the present application. Figure 8 As shown, the horizontal axis is the time period j, and the vertical axis is the value u corresponding to the time period jn In the case of η = 0.125, Figure 8 a in the above is the original control sequence in S403 The corresponding planning control sequence is (1, 0.5, 0.25), Figure 8 b in the above is the original control sequence in S403 The corresponding planning control sequence is (1,-0.707,0.5).

[0121] For example, for the original control sequence (1,3e iπ ,3e i2π ,e i3π ), if η=0.25, the corresponding planning control sequence is (1,1.5,0.75,0.125).

[0122] It should be noted that in general technology, no matter the duration of the motion change of the mobile device is long or short, a fixed shaping technology is used to correct the planned motion curve. When the motion state of the mobile device changes greatly and the transition process lasts for a long time (for example, the mobile device accelerates from static to high speed and then moves at a constant speed, or the opposite process), due to the maximum torque limit, the mobile device takes a long time to accelerate and decelerate, causing more severe vibration. Even if these vibration suppression methods are used, there will still be residual vibration, especially when the motion state changes greatly and lasts for a long time, the vibration suppression effect is worse.

[0123] In view of this, further, during the pre-planned movement time T of the mobile device 全 With damped oscillation period T d When the difference between them is greater than a preset threshold, the electronic device can determine a planned control sequence with a longer duration, and then the implementation process of the above S701 can be: the electronic device divides the pre-planned movement time of the mobile device into a movement start segment, a movement hold segment, and a movement end segment. The electronic device determines the planned control sequence corresponding to the movement start segment based on the original control sequence and the periodic attenuation rate, and performs scaling, shifting and addition on the planned control sequence corresponding to the movement start segment to determine the planned control sequence. The planned control sequence includes the movement information of the mobile device in the movement start segment, the movement information in the movement hold segment, and the movement information in the movement end segment.

[0124] For example, the electronic device follows the original control sequence (1,3e iπ ,3e i2π ,e i3π ) and the periodic decay rate is 0.25, and the planning control sequence corresponding to the start segment of the motion is obtained (1,1.5,0.75,0.125). As shown in Table 1 below, each value in the first row (1,1.5,0.75,0.125) is enlarged by 2 times to obtain (2,3,1.5,0.25), and (2,3,1.5,0.25) is shifted right by 1 place to obtain the second row; each value in (2,3,1.5,0.25) is enlarged by 2 times to obtain (4,6,3,0.5), and (4,6,3,0.5) is shifted right by 1 place to obtain the third row, and (4,6,3, 0.5), each value in the sequence (8, 12, 6, 1) is amplified by 2 times to get (8, 12, 6, 1), and (8, 12, 6, 1) is shifted right by 1 place to get the fourth row, and (8, 12, 6, 1) is shifted right by 1 place to get the fifth row. The subsequent processing is similar. Finally, all sequences are added together to get the planning control sequence (1, 3.5, 7.75, 15.625, 23.25, 26.5, 27, 27, 27, 23, 15, 8, 3.5, 1, 0.125).

[0125] Table 1

[0126]

[0127]

[0128] It should be noted that the scaling factor used in the above scaling, shifting and adding process can be a positive number or a negative number. For example, the scaling factor is -1, and for the original control sequence (1, e iπ ), assuming that the periodic attenuation rate is 0.25, the planning control sequence corresponding to the start segment of the motion is (1,0.5), and the scaling, shifting and adding resultant planning control sequence is (1,-0.5,-0.5), as shown in Table 2 below.

[0129] Table 2

[0130] 1 0.5 -1 -0.5 Sum 1 -0.5 -0.5

[0131] The sum of the items in the control sequence (1, -0.5, -0.5) shown in Table 2 is 0, which can be used for acceleration planning of positioning motion.

[0132] It should be noted that if the planned control sequence corresponding to the set motion start segment is longer, the corresponding planned control sequence for the entire motion process will be longer, thereby obtaining a better vibration suppression effect. In addition, the duration of the original control sequence for the motion start segment can be planned according to the speed and acceleration allowed in the actual operation of the mobile device, and the planned control sequence corresponding to the motion start segment can be determined, and then the planned control sequence corresponding to the motion start segment can be scaled, shifted and added a finite number of times to obtain the planned control sequence for the entire motion process.

[0133] It is understandable that when the motion state of the mobile device changes greatly and the required acceleration time is long, the acceleration planning result generated by the electronic device lasts longer, further improving the effect of suppressing vibration. When the motion state of the mobile device changes less and the required acceleration time is short, the acceleration planning result generated by the electronic device lasts shorter, avoiding the addition of additional motion delays. In other words, the device control method provided in the embodiment of the present application takes into account both the stability when the motion state changes greatly and the rapidity when the motion state changes less.

[0134] S702: For each time period, the electronic device determines the motion information of the mobile device within the time period based on the value corresponding to the time period.

[0135] In one possible implementation, the electronic device scales the numerical values ​​corresponding to each time period in the planned control sequence at the same ratio based on the performance information of the mobile device to obtain a standard control sequence, and uses the standard control sequence as the amplitude of the motion curve to obtain the motion information of the mobile device in each of the multiple time periods.

[0136] For example, the maximum acceleration that a mobile device can achieve is 10 meters / second squared (m / s 2 ), if the planned control sequence is used to plan the acceleration of the mobile device, then the above-mentioned scaling factor selected by scaling the values ​​corresponding to each time period by the same proportion can satisfy the following formula 4.

[0137]

[0138] Among them, α represents the scaling factor, max represents the maximum value, and abs represents the absolute value.

[0139] As an example, for the planned control sequence (1, 1.5, 0.75, 0.125), the scaling factor obtained by Formula 4 is 20 / 3, that is, the standard control sequence is (6.67, 10, 5, 0.83).

[0140] As another example, for the planned control sequence (1, 3.5, 7.75, 15.625, 23.25, 26.5, 27, 27, 27, 23, 15, 8, 3.5, 1, 0.125) obtained from Table 1, the scaling factor is 10 / 27 as obtained by Formula 4, that is, the standard control sequence is:

[0141] (0.3704,1.2963,2.8704,5.787,8.6111,9.8148,10,10,10,8.5185,5.5556,2.963,1.2963,0.3704,0.046296).

[0142] As another example, for the planned control sequence (1, -0.5, -0.5), the scaling factor obtained from Formula 4 is 10, that is, the standard control sequence is (10, -5, -5).

[0143] Fig. 9 A schematic diagram of an acceleration standard control sequence provided in an embodiment of the present application. Fig. 9As shown, the horizontal axis is the time period, and the vertical axis is the acceleration corresponding to the time period, in meters per square second. The acceleration standard control sequence is the acceleration standard control sequence (0.3704, 1.2963, 2.8704, 5.787, 8.6111, 9.8148, 10, 10, 10, 8.5185, 5.5556, 2.963, 1.2963, 0.3704, 0.046296) obtained by scaling the planning control sequence in Table 1 above.

[0144] Furthermore, a motion curve of the same type but with different amplitudes is used in each time period. The motion curve may be a constant, a triangle or a trapezoid, so that each time period has similar motion features, but only the amplitudes of the motion features are different.

[0145] For example, Fig.10 Schematic diagram of acceleration, velocity and displacement curves provided in an embodiment of the present application. Fig.10 As shown, select the constant motion curve, Fig.10 a in the figure is the acceleration curve in each time period obtained according to the acceleration specification control sequence (6.67, 10, 5, 0.83). The horizontal axis is the time period and the vertical axis is the acceleration, with the unit being meter per square second. Fig.10 The b in the Fig.10 The speed curve in each time period is obtained by integrating a in , with the horizontal axis being the time period and the vertical axis being the speed in meters per second. Fig.10 The c in the Fig.10 The displacement curve in each time period is obtained by integrating b in , with the horizontal axis being the time period and the vertical axis being the displacement in meters. Fig.10 It can be used to control a mobile device that accelerates from a standstill to a preset speed.

[0146] For example, Fig.11 Schematic diagram of another acceleration, velocity and displacement curve provided in an embodiment of the present application. Fig.11 As shown, a constant motion curve is selected. The long dashed line is the acceleration curve in each time period obtained according to the short-time acceleration standard control sequence (10, -5, -5). The unit of acceleration is meter per square second. The short dashed line is the velocity curve in each time period obtained by integrating the acceleration curve. The unit of velocity is meter per second. The solid line is the displacement curve in each time period obtained by integrating the velocity curve. The unit of displacement is meter. Fig.11 Can be used to control mobile devices for short-range positioning.

[0147] Optionally, the planning result determined in this way may not meet the desired displacement and / or speed requirements due to the acceleration and / or speed limitations of the mobile device. In this case, it is necessary to increase T 全, and plan again until the requirements are met.

[0148] Optionally, since mobile devices often face various motion conditions, including short-distance motion, long-distance motion, and changes in motion conditions, the device has different vibration characteristics as the position of the current working end on the device changes and in different time periods. Therefore, when the vibration characteristics of the mobile device are time-varying or change with the posture, the electronic device can correct the damped oscillation period and period attenuation rate of the mobile device after the mobile device completes the motion according to the motion information of multiple time periods. In view of this, if Fig.12 As shown, the device control method described in the embodiment of the present application may further include the following steps.

[0149] S1201. The electronic device corrects the damped oscillation period and period attenuation rate of the mobile device according to the residual vibration characteristic data of the mobile device.

[0150] In one possible implementation, after the mobile device completes movement according to the motion information of multiple time periods, the electronic device obtains residual vibration characteristic data of the mobile device, calculates the damped oscillation period and period attenuation rate of the mobile device based on the residual vibration characteristic data of the mobile device, and corrects the stored damped oscillation period and period attenuation rate.

[0151] It is understandable that since the vibration characteristics of the mobile device will change, the electronic device corrects the damped oscillation period and period attenuation rate of the mobile device after each change of the motion state of the mobile device, and can obtain a more accurate damped oscillation period and period attenuation rate. This can make the subsequent planned motion information more accurate, thereby better suppressing the residual vibration of the device.

[0152] Furthermore, the function of real-time identification of the vibration characteristics of the mobile device can be added to the electronic device, so that the damped oscillation period and period attenuation rate of the mobile device can be determined in real time, and the planned motion information can be based on the real-time vibration characteristics of the device, thereby achieving better vibration suppression effect.

[0153] In summary, the main basis for planning the device control method provided in the embodiment of the present application is the vibration characteristics of the device, rather than artificially selected jerk, acceleration or speed, etc., and there are different, vibration-free planning results with different robustness to model mismatch in different motion scenes. In addition, the device control method provided in the embodiment of the present application can plan a motion that is less than the damped oscillation period of the device, so that compared with the prior art, the motion time is shorter and there is no residual oscillation, which is suitable for scenes with small changes in motion state. In addition, in view of the characteristics of the large-scale changes and long duration of the motion state of the device, the original control sequence with a longer duration is planned, so that compared with the prior art, it has a better vibration suppression effect when the model mismatches.

[0154] It is understandable that the above-mentioned device control method can be implemented by a device control device. In order to realize the above-mentioned functions, the device control device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the modules and algorithm steps of each example described in the embodiments disclosed herein, the embodiments disclosed in this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments disclosed in this application.

[0155] The embodiments disclosed in the present application can divide the functional modules of the device control device generated by the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments disclosed in the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0156] Fig.13 This is a schematic diagram of the structure of a device control device provided in an embodiment of the present application. Fig.13 As shown, the device control device 130 can be used to execute Figure 2 , Figure 4 , Figure 7 as well as Fig.12 The device control method shown. The device control apparatus 130 includes: an acquisition unit 1301, a processing unit 1302 and a control unit 1303.

[0157] The acquisition unit 1301 is used to acquire the damped oscillation period and period decay rate of the mobile device; the processing unit 1302 is used to divide the pre-planned movement time of the mobile device into multiple time periods based on the damped oscillation period, and determine the movement information of the mobile device in each of the multiple time periods based on the period decay rate; the control unit 1303 is used to control the movement of the mobile device based on the movement information in each time period.

[0158] In one possible implementation, the processing unit 1302 is further used to determine the duration of each time period in a plurality of time periods, the duration of each time period being the same, the duration being the ratio of the damped oscillation period to a preset coefficient, and the preset coefficient being an integer greater than or equal to 2; the processing unit 1302 is further used to divide the pre-planned movement time of the mobile device into a plurality of time periods according to the duration of each time period.

[0159] In one possible implementation, the processing unit 1302 is further used to determine an original control sequence corresponding to a plurality of time periods, the original control sequence including a vector corresponding to each time period, and the sum of the vectors corresponding to each time period is 0; the processing unit 1302 is further used to determine the motion information of the mobile device in each of the plurality of time periods based on the original control sequence and the periodic attenuation rate.

[0160] In one possible implementation, the processing unit 1302 is further used to determine a planned control sequence based on the original control sequence and the periodic attenuation rate, where the planned control sequence includes a numerical value corresponding to each time period; for each time period, the processing unit 1302 is further used to determine the motion information of the mobile device within the time period based on the numerical value corresponding to the time period.

[0161] In one possible implementation, when the difference between the pre-planned movement time of the mobile device and the damped oscillation period is greater than a preset threshold, the processing unit 1302 is further used to divide the pre-planned movement time of the mobile device into a movement start segment, a movement hold segment, and a movement end segment; the processing unit 1302 is further used to determine the planned control sequence corresponding to the movement start segment based on the original control sequence and the periodic attenuation rate; the processing unit 1302 is further used to scale, shift, and add the planned control sequence corresponding to the movement start segment to determine the planned control sequence, wherein the planned control sequence includes the movement information of the mobile device in the movement start segment, the movement information in the movement hold segment, and the movement information in the movement end segment.

[0162] In a possible implementation, after the mobile device completes the movement according to the movement information of multiple time periods, the processing unit 1302 is further used to correct the damped oscillation period and period attenuation rate of the mobile device according to the residual vibration characteristic data of the mobile device.

[0163] Through the description of the above implementation methods, technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0164] The present disclosure also provides a computer-readable storage medium having instructions stored thereon. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the device control method provided by the above-mentioned embodiment of the present disclosure.

[0165] The embodiments of the present disclosure also provide a computer program product including instructions, which, when executed on an electronic device, enables the electronic device to execute the device control method provided by the embodiments of the present disclosure.

[0166] Among them, the computer readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a register, a hard disk, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above, or any other form of computer readable storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). In the embodiments of the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program, which may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0167] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A device control method, characterized in that: The method comprises: Obtain the damped oscillation period and period decay rate of the mobile device; Based on the damped oscillation period, the pre-planned movement time of the mobile device is divided into a plurality of time periods, and based on the period decay rate, the movement information of the mobile device in each of the plurality of time periods is determined; The movement of the mobile device is controlled based on the movement information in each time period.

2. The method according to claim 1, characterized in that The step of dividing the pre-planned movement time of the mobile device into a plurality of time periods based on the damped oscillation period includes: Determine the duration of each of the multiple time periods, wherein the duration of each of the time periods is the same, and the duration is a ratio of the damped oscillation period to a preset coefficient, and the preset coefficient is an integer greater than or equal to 2; The pre-planned movement time of the mobile device is divided into the multiple time periods according to the length of each time period.

3. The method according to claim 1, characterized in that The determining, based on the periodic decay rate, the motion information of the mobile device in each of the multiple time periods comprises: Determine an original control sequence corresponding to the multiple time periods, the original control sequence includes a vector corresponding to each time period, and the sum of the vectors corresponding to each time period is 0; Based on the original control sequence and the periodic decay rate, motion information of the mobile device in each of the plurality of time periods is determined.

4. The method according to claim 3, characterized in that The determining, based on the original control sequence and the periodic decay rate, the motion information of the mobile device in each of the multiple time periods comprises: Determine a planned control sequence based on the original control sequence and the periodic decay rate, wherein the planned control sequence includes a value corresponding to each time period; For each time period, based on a value corresponding to the time period, the movement information of the mobile device within the time period is determined.

5. The method according to claim 4, characterized in that The step of determining a planned control sequence based on the original control sequence and the periodic attenuation rate includes: When the difference between the pre-planned movement time of the mobile device and the damped oscillation period is greater than a preset threshold, dividing the pre-planned movement time of the mobile device into a movement start segment, a movement hold segment, and a movement end segment; Determining a planned control sequence corresponding to the motion start segment based on the original control sequence and the periodic decay rate; The planned control sequence corresponding to the motion start segment is scaled, shifted and added to determine the planned control sequence, wherein the planned control sequence includes the motion information of the mobile device in the motion start segment, the motion information in the motion hold segment and the motion information in the motion end segment.

6. The method according to any one of claims 1 to 5, characterized in that After the mobile device completes the movement according to the movement information of the multiple time periods, the method further includes: According to the residual vibration characteristic data of the mobile device, the damped oscillation period and period attenuation rate of the mobile device are corrected.

7. A device control device, characterized in that: The device comprises: an acquisition unit, a processing unit and a control unit; The acquisition unit is used to acquire the damped oscillation period and period attenuation rate of the mobile device; The processing unit is configured to divide the pre-planned movement time of the mobile device into a plurality of time periods based on the damped oscillation period, and determine the movement information of the mobile device in each of the plurality of time periods based on the period decay rate; The control unit is used to control the movement of the mobile device based on the movement information in each time period.

8. A device control device, characterized in that: include: A memory and a processor; the memory and the processor are coupled; The memory is used to store instructions executable by the processor; When the processor executes the instructions, the device control method according to any one of claims 1 to 6 is performed.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer is enabled to execute the device control method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises computer program instructions, and when the computer program instructions are executed by a processor, the device control method according to any one of claims 1 to 6 is implemented.

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