Multi-axis motion control method, device, equipment, storage medium and program product

Abstract

The present application relates to a multi-axis motion control method, device, computer equipment, computer-readable storage medium and computer program product. The method is applied to a multi-axis motion control system, which includes a multi-axis configuration interface and a controller. The method includes: when the controller is in an uninitialized state, setting the multi-axis configuration interface to an editable state; in response to an axis configuration operation on the multi-axis configuration interface in the editable state, obtaining axis configuration information corresponding to each of a plurality of target axes; obtaining motion parameter information corresponding to each of the target axes; and controlling each of the target axes to move according to the axis configuration information and motion parameter information corresponding to each of the target axes through the controller. The use of this method can simplify multi-axis control operations in multiple scenarios.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and in particular to a multi-axis motion control method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] With the development of industrial automation technology, advanced axis control technology has emerged, which has the characteristics of high precision, high-speed response and high flexibility. Axis control technology can achieve complex motion trajectories and synchronous operations by accurately controlling the position, speed and acceleration of the motor, and is widely used in robots, CNC machine tools, packaging machinery and other fields.

[0003] In traditional technology, axis control mainly relies on PLC (Programmable Logic Controller) to achieve. PLC control usually manages the movement of the axis through a simple open-loop or closed-loop control strategy. It has a simple structure and high reliability, and has a good control effect when controlling a single axis.

[0004] However, with traditional PLC control methods, axis control programs for different multi-axis motion scenarios often need to be compiled separately and are difficult to transplant. If you want to implement the application of a group of axes in a large number of different scenarios, the operation is relatively complicated. Summary of the invention

[0005] Based on this, it is necessary to provide a multi-axis motion control method, device, computer equipment, computer-readable storage medium and computer program product that can simplify multi-axis control operations in multiple scenarios in response to the above technical problems.

[0006] In a first aspect, the present application provides a multi-axis motion control method, which is applied to a multi-axis motion control system. The multi-axis motion control system includes a multi-axis configuration interface and a controller. The multi-axis motion control method includes:

[0007] When the controller is in an uninitialized state, set the multi-axis configuration interface to editable state;

[0008] In response to an axis configuration operation on the multi-axis configuration interface in an editable state, acquiring axis configuration information corresponding to each of the plurality of target axes;

[0009] Obtain the motion parameter information corresponding to each target axis;

[0010] Through the controller, each target axis is controlled to move according to the axis configuration information and motion parameter information corresponding to each target axis.

[0011] In one embodiment, the controller includes a main control system state machine and a driving force control system state machine; through the controller, according to the axis configuration information and motion parameter information corresponding to each target axis, each target axis is controlled to move, including:

[0012] In response to a trigger operation on the multi-axis configuration interface in an editable state, the configuration information of each axis is transmitted to the state machine of the main control system, and the trigger operation is used to instruct the controller to establish a connection with other components in the multi-axis motion control system;

[0013] When the main control system state machine determines that the configuration information of each axis has passed the verification, the configuration information of each axis is transmitted to the driving force control system state machine;

[0014] When the configuration information of each axis is verified through the driving force control system state machine, the controller is switched to the initialization state;

[0015] When the controller is in an initialization state, the controller controls each target axis to move according to the axis configuration information and motion parameter information corresponding to each target axis.

[0016] In one embodiment, the controller includes a real-time data interface; obtaining motion parameter information corresponding to each target axis includes:

[0017] In real-time control mode, the motion parameter information periodically sent by the host computer is received through the real-time data interface.

[0018] In one embodiment, the motion parameter information includes at least one of position information, velocity information and acceleration information; and the controller controls each target axis to move according to the axis configuration information and motion parameter information corresponding to each target axis, including at least one of the following:

[0019] Through the controller, according to the axis configuration information, speed information and acceleration information corresponding to each target axis, the acceleration of each target axis is adjusted to the first target acceleration corresponding to the acceleration information with a preset jerk, and the speed of each target axis is adjusted to the first target speed corresponding to the speed information; if new speed information and new acceleration information sent by the upper computer are received within a preset sending period, then through the controller, according to the axis configuration information, new speed information and acceleration information corresponding to each target axis, the acceleration of each target axis is adjusted to the second target acceleration corresponding to the new acceleration information with a preset jerk, and the speed of each target axis is adjusted to the second target speed corresponding to the new speed information;

[0020] Through the controller, according to the axis configuration information, position information and speed information corresponding to each target axis, the speed of each target axis is adjusted to the third target speed corresponding to the speed information with a preset acceleration, and each target axis is moved to the first target position corresponding to the position information at the third target speed; if new position information and new speed information are received from the upper computer within the preset sending cycle, then through the controller, according to the axis configuration information, new position information and new speed information corresponding to each target axis, the speed of each target axis is adjusted to the fourth target speed corresponding to the new speed information with a preset acceleration, and each target axis is moved to the second target position corresponding to the new position information at the fourth target speed.

[0021] In one embodiment, the multi-axis motion control system further includes a script editing interface, the script editing interface includes a motion parameter information input element; obtaining the motion parameter information corresponding to each target axis includes:

[0022] In response to the motion parameter setting operation for the motion parameter information input element, the motion parameter information corresponding to each target axis is acquired.

[0023] In one embodiment, in response to an axis configuration operation on a multi-axis configuration interface in an editable state, obtaining axis configuration information corresponding to each of a plurality of target axes includes:

[0024] In response to an axis configuration operation on a multi-axis configuration interface in an editable state, obtaining configuration information to be authorized corresponding to each of the plurality of target axes;

[0025] In response to an authorization operation on the multi-axis configuration interface in an editable state, obtaining authorization verification information;

[0026] When the authorization verification information passes the verification, the configuration information to be authorized is determined as the axis configuration information.

[0027] In a second aspect, the present application further provides a multi-axis motion control device, which is applied to a multi-axis motion control system. The multi-axis motion control system includes a multi-axis configuration interface and a controller. The multi-axis motion control device includes:

[0028] The setting module is used to set the multi-axis configuration interface to editable state when the controller is in an uninitialized state;

[0029] A first acquisition module, configured to acquire axis configuration information corresponding to each of the plurality of target axes in response to an axis configuration operation on the multi-axis configuration interface in an editable state;

[0030] The second acquisition module is used to acquire the motion parameter information corresponding to each target axis;

[0031] The control module is used to control each target axis to move according to the axis configuration information and motion parameter information corresponding to each target axis through a controller.

[0032] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0033] When the controller is in an uninitialized state, set the multi-axis configuration interface to editable state;

[0034] In response to an axis configuration operation on the multi-axis configuration interface in an editable state, acquiring axis configuration information corresponding to each of the plurality of target axes;

[0035] Obtain the motion parameter information corresponding to each target axis;

[0036] Through the controller, each target axis is controlled to move according to the axis configuration information and motion parameter information corresponding to each target axis.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0038] When the controller is in an uninitialized state, set the multi-axis configuration interface to editable state;

[0039] In response to an axis configuration operation on the multi-axis configuration interface in an editable state, acquiring axis configuration information corresponding to each of the plurality of target axes;

[0040] Obtain the motion parameter information corresponding to each target axis;

[0041] Through the controller, each target axis is controlled to move according to the axis configuration information and motion parameter information corresponding to each target axis.

[0042] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0043] When the controller is in an uninitialized state, set the multi-axis configuration interface to editable state;

[0044] In response to an axis configuration operation on the multi-axis configuration interface in an editable state, acquiring axis configuration information corresponding to each of the plurality of target axes;

[0045] Obtain the motion parameter information corresponding to each target axis;

[0046] Through the controller, each target axis is controlled to move according to the axis configuration information and motion parameter information corresponding to each target axis.

[0047] The above-mentioned multi-axis motion control method, device, computer equipment, computer-readable storage medium and computer program product are applied to a multi-axis motion control system, which includes a multi-axis configuration interface and a controller. First, when the controller is in an uninitialized state, the multi-axis configuration interface is set to an editable state. In response to the axis configuration operation of the multi-axis configuration interface in the editable state, the axis configuration information corresponding to each of the multiple target axes is obtained. The unified configuration of the multiple axes can be realized through simple interface interaction, and then the motion parameter information corresponding to each of the target axes is obtained. Through the controller, according to the axis configuration information and motion parameter information corresponding to each of the target axes, each target axis is controlled to move. The controller can be used to realize automatic motion planning based on motion parameter information and axis configuration information. On the one hand, by configuring the axis configuration information, the orderly stability of the multi-axis motion can be guaranteed, the normal operation of the maintenance system can be maintained, and the safety and stability of the system can be guaranteed. On the other hand, by adjusting the motion parameter information, the corresponding motion instructions can be generated according to the actual needs under different scenes, so that the axis moves according to the predetermined trajectory and speed. In this way, compared with the traditional PLC control method, the present application only needs to set different motion parameter information to be compatible with most multi-axis motion scenes, and the operation is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic diagram of a multi-axis motion control method according to an embodiment;

[0050] Figure 2 A schematic diagram of the structure of a multi-axis motion control system in one embodiment;

[0051] Figure 3 A schematic flow chart of a multi-axis motion control method in another embodiment;

[0052] Figure 4 is a structural block diagram of a multi-axis motion control device in one embodiment;

[0053] Figure 5 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] In an exemplary embodiment, Figure 1 As shown, a multi-axis motion control method is provided. This embodiment is illustrated by applying the method to a terminal. The terminal may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, projection devices, etc. Portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted devices may be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. The terminal includes a multi-axis motion control system, which is used to accurately control the independent motion of multiple axes. The multi-axis motion control system includes at least a front-end interface and a controller. The front-end interface may include a multi-axis configuration interface, and may also include one or more of a driver, a motor, a feedback device, and an actuator. Among them, the front end may refer to a module for directly interacting with a user, including one or more of a user interface, an input device, and a data processing device. The controller may refer to a component for indicating, controlling, adjusting, and monitoring the behavior of a multi-axis motion control system. The driver may refer to a module for converting an electrical signal sent by a controller into a current or voltage required by a motor to drive the motor. The motor may refer to a module used to rotate according to the power output provided by the driver, thereby driving the movement of mechanical parts. The feedback device may refer to a module used to detect information such as actual position and actual speed and feed the information back to the controller for closed-loop control, such as an encoder or a sensor. The actuator may refer to a module used to convert the rotational motion of the motor into linear or other forms of motion, such as a lead screw, gear, belt, etc. It can be understood that the method can also be applied to a server provided with a multi-axis motion control system, and can also be applied to a system provided with a multi-axis motion control system and including a terminal and a server, and is implemented through the interaction between the terminal and the server.

[0056] In this embodiment, the method includes the following steps S10-S40. Among them:

[0057] Step S10, when the controller is in an uninitialized state, setting the multi-axis configuration interface to an editable state.

[0058] Among them, the state of the controller can be used to characterize the current working condition or condition of the controller, and may include at least one of the connection state, uninitialized state, error state, axis motion state, multi-axis linkage state, etc. These state information are very important for understanding whether the system is operating normally, diagnosing problems, and performing maintenance. Among them, the uninitialized state may refer to the controller not having completed the necessary settings and configurations during the startup process, and being in a state of being ready but not fully ready to perform tasks. In this state, the controller may not have the ability to perform normal operations because it has not yet loaded the necessary programs, set parameters, or established connections with other components in the system. After the controller completes the necessary settings and configurations during the startup process, it can establish a communication connection between the controller and the various components required to complete the multi-axis motion, and the controller enters the connection state. In the event that any module in the controller is abnormal, the controller can automatically switch to the error state. When the controller is in the error state, the controller can disconnect the control of the axis motion, and the axis motion can also be stopped.

[0059] In this embodiment, by taking over the control of multiple axes with one controller, the motion scenarios when axis motion is used in industry can be effectively simplified, and the control accuracy can reach the nanometer level, supporting the simultaneous control of multiple types of axes for motion, including but not limited to rotary axes, linear axes, etc.

[0060] The multi-axis configuration interface may refer to an interface for setting and adjusting the configuration information of each axis. By configuring each axis, it can be ensured that each axis can efficiently and accurately perform a predetermined task, and that the controller, each axis and other related components can work together correctly.

[0061] In some feasible implementations, the multi-axis configuration interface may further include a one-key enable element, a one-key disable element, a one-key reset element, etc. For all axes, control may be performed through a one-key enable element, a one-key disable element, or a one-key reset element. For a single axis, after inputting motion parameter information such as acceleration, jerk, upper and lower limits of each axis, control such as enable, disable, and reset may be performed separately.

[0062] It is understandable that once the controller is not in an uninitialized state, the controller will move according to the necessary settings and configurations in the uninitialized state. At this time, modifying the axis configuration information can easily cause abnormalities and failures in the axis control or even the entire system. Therefore, by switching the editing state of the multi-axis configuration interface based on the state of the controller, the multi-axis configuration interface is set to an editable state only when the controller is in an uninitialized state. This can ensure that the user can configure the axis only when the controller is in an uninitialized state, thereby avoiding abnormalities and failures in the axis control or even the entire system, and improving the stability of the axis control and the entire system.

[0063] Exemplarily, during the operation of the multi-axis motion control system, the status of the controller can be monitored. When the controller is in an uninitialized state, the multi-axis configuration interface can be set to an editable state to allow the user to input, modify, and perform other editing operations on the configuration information in the multi-axis configuration interface; when the controller is in an uninitialized state, the multi-axis configuration interface can be set to a non-editable state to prevent the user from inputting, modifying, and performing other editing operations on the configuration information in the multi-axis configuration interface.

[0064] Step S20 , in response to an axis configuration operation on the multi-axis configuration interface in an editable state, obtaining axis configuration information corresponding to each of the plurality of target axes.

[0065] Among them, the axis configuration information may refer to data used to describe the basic characteristics and operating parameters of the axis, including axis name, axis type, encoder resolution, encoder direction, reduction ratio, maximum speed, maximum acceleration, maximum jerk, velocity feedforward coefficient, current feedforward coefficient, upper limit of motion, lower limit of motion, origin, method of setting origin, etc. The axis configuration information remains relatively fixed during the entire multi-axis control process to ensure the stability and safety of the system operation.

[0066] The multi-axis motion control system can be used to control multiple axes. Assuming that there are N axes in total, the multi-axis motion system can control N axes, or some of the N axes. After adding M axes, the N+M axes can also be controlled. The target axis can refer to the axis that needs to be controlled in the current multi-axis motion scene. When configuring, you can add the target axis in the multi-axis configuration interface and configure only the target axis. For axes that are not configured, they can be not controlled in the current multi-axis motion scene.

[0067] Exemplarily, when the multi-axis configuration interface is in an editable state, the user can configure one or more axes through the multi-axis configuration interface. After the editing is completed, the configuration can be completed through a confirmation operation on the multi-axis configuration interface, such as clicking a confirmation button, etc., wherein the confirmation operation is used to confirm that the configuration information currently input on the multi-axis configuration interface will be used as the axis configuration information; when an axis configuration operation is detected for the multi-axis configuration interface in an editable state, the axis configuration information input through the multi-axis configuration interface can be obtained during the user editing process, and the axis configuration information finally determined in the multi-axis configuration interface can be obtained after the confirmation operation is detected.

[0068] Step S30, obtaining motion parameter information corresponding to each target axis.

[0069] Among them, motion parameter information may refer to data used to specify the specific motion behavior of one or more axes during the multi-axis control process, including at least one of speed information, position information, acceleration information, jerk information, deceleration information, etc. These parameters usually change dynamically during the multi-axis control process and can be adjusted according to the actual task requirements in different multi-axis motion scenarios.

[0070] It can be understood that each axis may generate multiple motion behaviors and pass through multiple waypoints during the entire movement process. Each motion behavior or each waypoint corresponds to a set of motion parameter information. For example, an axis moves from point A1 to point A2 and then to point A3. The motion parameter information corresponding to point A1 may include the position B1, speed C1 and acceleration D1 corresponding to point A1, the motion parameter information corresponding to point A2 may include the position B2, speed C2 and acceleration D2 corresponding to point A2, and the motion parameter information corresponding to point A3 may include the position B3, speed C3 and acceleration D3 corresponding to point A3.

[0071] For example, the user may send at least part of the motion parameter information required to complete the multi-axis motion to the controller through an interface or a designated command interface according to actual needs of the multi-axis motion scene.

[0072] In some feasible implementations, after receiving at least part of the motion parameter information, the controller can supplement the remaining motion parameter information according to a preset planning algorithm to obtain complete motion parameter information.

[0073] Step S40, controlling each target axis to move according to the axis configuration information and motion parameter information corresponding to each target axis through the controller.

[0074] Exemplarily, after determining the axis configuration information and motion parameter information, a multi-axis motion strategy that meets the preset motion planning conditions can be automatically planned based on the axis configuration information and motion parameter information corresponding to each target axis and according to a preset planning algorithm, and a multi-axis motion control script corresponding to the current multi-axis motion scene can be generated. The controller can then control the movement of each target axis by executing the multi-axis motion control script.

[0075] The above multi-axis motion control method is applied to a multi-axis motion control system, which includes a multi-axis configuration interface and a controller. In the above multi-axis motion control method, first, when the controller is in an uninitialized state, the multi-axis configuration interface is set to an editable state, and in response to the axis configuration operation of the multi-axis configuration interface in the editable state, the axis configuration information corresponding to each of the multiple target axes is obtained, and the unified configuration of the multiple axes can be realized through simple interface interaction, and then the motion parameter information corresponding to each of the target axes is obtained, and the controller is used to control each target axis to move according to the axis configuration information and motion parameter information corresponding to each of the target axes, and the controller can be used to realize automatic motion planning based on motion parameter information and axis configuration information. On the one hand, by configuring the axis configuration information, the orderly stability of the multi-axis motion can be guaranteed, the normal operation of the maintenance system can be maintained, and the safety and stability of the system can be guaranteed. On the other hand, by adjusting the motion parameter information, the corresponding motion instructions can be generated according to the actual needs under different scenes, so that the axis moves according to the predetermined trajectory and speed. In this way, compared with the traditional PLC control method, this application only needs to set different motion parameter information to be compatible with most multi-axis motion scenes, and the operation is simple.

[0076] In an exemplary embodiment, Figure 3 As shown, the controller includes a main control system state machine and a driving force control system state machine, and the controller controls each target axis to move according to the axis configuration information and motion parameter information corresponding to each target axis, including steps S411 to S414. Among them:

[0077] Step S411 , in response to a trigger operation on the multi-axis configuration interface in an editable state, transmit the configuration information of each axis to the main control system state machine.

[0078] The controller includes a state machine, which may refer to a mathematical model for describing system behavior, which represents the dynamic behavior of the system by defining a series of states and transitions between states. In this embodiment, the state machine is a multi-level state machine, and the maintainability, scalability and logical clarity of the system can be improved by grading the state machine, making the system more modular, easy to understand and manage, and better able to handle errors and abnormal situations. The state machine is divided into at least a main control system state machine and a driving force control system state machine, and can be further subdivided into an axis state machine corresponding to each axis.

[0079] In some possible implementations, such as Figure 2As shown in the figure, the state machine of the controller is divided into three levels of state machines, namely, CPS (Control Platform System, main control system) state machine, CDS (Control Drive System, driving force control system) state machine and axis state machine. Among them, the axis state machine can realize the control of the movement of other axes when some axes are not enabled. The axis state machine and the CDS state machine can communicate with the CPS state machine through shared memory. When the CPS state machine receives the instruction of single-axis movement, it can check the axis state machine corresponding to the axis separately. For the CPS state machine, it is responsible for managing the initialization emergency stop and script running of the CDS state machine. Among them, for script running, it is usually necessary to enable all configured axes before the script is allowed to run. Therefore, when some axes are enabled, the axis state machine can enable some axes and control the enabled axes to move. In this way, it is possible to debug some axes before the script runs. For example, during the overall debugging process, some axes report errors. During the debugging of these axes that report errors, only these axes can be controlled without running the entire script or controlling all axes to move.

[0080] The trigger operation may refer to an operation for instructing the controller to establish a connection with other components in the multi-axis motion control system, for example, a click operation or a selection operation on a controller connection element on a multi-axis configuration interface.

[0081] For example, after completing the axis configuration, the user can request to establish a connection between the controller and other components by triggering the controller connection element on the multi-axis configuration interface; after detecting the trigger operation, the acquired axis configuration information of each axis can be passed to the main control system state machine.

[0082] Step S412: when the main control system state machine determines that the configuration information of each axis has passed the verification, the configuration information of each axis is transmitted to the driving force control system state machine.

[0083] Exemplarily, after receiving the shaft configuration information, the main control system state machine first verifies the legality and validity of the received shaft configuration information. When the main control system state machine determines that the shaft configuration information has passed the verification, it further transmits the shaft configuration information to the driving force control system state machine.

[0084] Step S413, when it is determined through the driving force control system state machine that the configuration information of each axis has been verified, the controller is switched to the initialization state.

[0085] Exemplarily, after receiving the shaft configuration information, the driving force control system state machine first verifies the legality and validity of the received shaft configuration information. When the driving force control system determines that the shaft configuration information verification has passed, the controller state is switched from the uninitialized state to the initialized state.

[0086] Step S414, when the controller is in the initialization state, the controller controls each target axis to move according to the axis configuration information and motion parameter information corresponding to each target axis.

[0087] Exemplarily, when the controller is in the initialization state, it can automatically plan a multi-axis motion strategy that meets the preset motion planning conditions based on the axis configuration information and motion parameter information corresponding to each target axis and according to the preset planning algorithm, and generate a multi-axis motion control script corresponding to the current multi-axis motion scene. The controller can then control the movement of each target axis by executing the multi-axis motion control script.

[0088] In this embodiment, the maintainability, scalability and logical clarity of the system can be improved by grading the state machine, making the system more modular, easier to understand and manage, and better able to handle errors and abnormal situations.

[0089] In an exemplary embodiment, the controller includes a real-time data interface; obtaining motion parameter information corresponding to each target axis includes:

[0090] In real-time control mode, the motion parameter information periodically sent by the host computer is received through the real-time data interface.

[0091] It should be noted that the planning algorithm preset in the controller is formulated for the optimization goals of most scenarios. For example, given two locations, it will automatically plan a straight-line motion path between the two locations. Although it can also be classified, such as linear interpolation path planning, S-shaped speed curve planning, etc., in some special multi-axis motion scenarios, users still hope to plan the movement of the axes themselves during use.

[0092] Among them, the real-time control mode may refer to a mode that allows the user to send motion instructions to the controller through a real-time data interface, and then control the axis motion based on the motion instructions and axis configuration information, without the need to control the axis motion according to the script. It is understandable that in the conventional mode, a script is first generated based on the motion parameter information and the axis configuration information, and then the controller sends a control instruction to the axis based on the script to control the movement of the axis, but in the real-time control mode, the multi-axis motion control system does not need to generate a script, it only needs to receive the motion instructions sent by the user through the host computer, and send a control instruction to the axis to control the movement of the axis when the motion instructions meet the requirements of the axis configuration information. The real-time data interface can be a mechanism for real-time transmission and exchange of data between systems, allowing data to be sent, received and processed immediately after generation, thereby supporting real-time monitoring, control and analysis.

[0093] For example, if the user wants to perform motion planning by himself, he can switch the multi-axis motion control system to real-time control mode through the mode switching element. In the real-time control mode, the user can perform multi-axis motion planning by himself, and then based on the planning results, the host computer periodically sends motion instructions to the controller through the real-time data interface. The motion instructions carry motion parameter information.

[0094] In an exemplary embodiment, the motion parameter information includes at least one of position information, speed information and acceleration information; and the controller controls each target axis to move according to the axis configuration information and motion parameter information corresponding to each target axis, including at least one of step S421 and step S422. Wherein:

[0095] Step S421, through the controller, according to the axis configuration information, speed information and acceleration information corresponding to each target axis, the acceleration of each target axis is adjusted to the first target acceleration corresponding to the acceleration information with a preset jerk, and the speed of each target axis is adjusted to the first target speed corresponding to the speed information; if new speed information and new acceleration information are received from the upper computer within the preset sending cycle, then through the controller, according to the axis configuration information, new speed information and acceleration information corresponding to each target axis, the acceleration of each target axis is adjusted to the second target acceleration corresponding to the new acceleration information with a preset jerk, and the speed of each target axis is adjusted to the second target speed corresponding to the new speed information.

[0096] It should be noted that the preset sending cycle is the periodic time for the host computer to send motion instructions to the controller. The real-time cycle of the controller sending instructions to the axis can reach once every 1ms or 0.5ms. However, due to the structural design of the host computer or factors such as network fluctuations, it is usually difficult for the host computer to send instructions at a frequency of real-time control. That is, the preset sending cycle is usually greater than 1ms or 0.5ms, and usually requires more than 4ms.

[0097] Exemplarily, when the motion instruction includes speed information and acceleration information, the acceleration needs to be adjusted to the first target acceleration corresponding to the acceleration information first. The acceleration of each target axis can be adjusted to the first target acceleration corresponding to the acceleration information at a preset acceleration through the controller. It can be understood that in the process of adjusting the acceleration to the first target acceleration, the axis can maintain a moving state, and the speed of each target axis can be accelerated at the current actual acceleration; then, after the acceleration reaches the first target acceleration, the speed of each target axis can be adjusted to the first target speed corresponding to the speed information at the first target acceleration. Timing can be started each time a motion instruction is received. During the process of motion control based on the speed information and acceleration information received in the previous time step, and when the timing has not reached the preset sending cycle, if new speed information and new acceleration information are received from the host computer, the new speed information and new acceleration information can overwrite the previously received speed information and acceleration information, so that the controller controls each target axis according to the new speed information and new acceleration information, that is, the controller can adjust the acceleration of each target axis to the second target acceleration corresponding to the new acceleration information at the preset acceleration, and then, after the acceleration reaches the second target acceleration, the speed of each target axis can be adjusted to the second target speed corresponding to the new speed information at the second target acceleration.

[0098] In some feasible implementations, each time a motion instruction is received, timing can be started. If the timing reaches a preset sending cycle and new speed information and new acceleration information sent by the host computer have not been received, each target axis can be controlled to stop moving according to a preset stop motion program after the speed of each target axis is accelerated to its corresponding target speed. The preset sending cycle can be determined according to the actual situation of the host computer. If the motion instruction is not received within the preset sending cycle, the controller will determine that the sending has ended, so as to avoid the situation where the target axis is out of control due to a failure of the host computer, thereby improving the safety of multi-axis motion control.

[0099] In some feasible implementations, the preset acceleration may be a maximum acceleration in the axis configuration information.

[0100] It will be appreciated that acceleration and jerk may be positive or negative values.

[0101] Step S422, through the controller, according to the axis configuration information, position information and speed information corresponding to each target axis, the speed of each target axis is adjusted to the third target speed corresponding to the speed information with a preset acceleration, and each target axis is moved to the first target position corresponding to the position information at the third target speed; if new position information and new speed information are received from the upper computer within the preset sending cycle, then through the controller, according to the axis configuration information, new position information and new speed information corresponding to each target axis, the speed of each target axis is adjusted to the fourth target speed corresponding to the new speed information with a preset acceleration, and each target axis is moved to the second target position corresponding to the new position information at the fourth target speed.

[0102] Exemplarily, when the motion instruction includes position information and speed information, the speed needs to be adjusted to a third target speed corresponding to the speed information first. The speed of each target axis can be adjusted to the third target speed corresponding to the speed information at a preset acceleration through a controller. It can be understood that in the process of adjusting the speed to the third target speed, the axis can maintain a moving state, and the speed of each target axis can move at the current actual speed; then, after the speed reaches the third target speed, each target axis can be moved to the first target position corresponding to the position information at the third target speed. Timing can be started each time a motion instruction is received. During the process of motion control based on the position information and speed information received in the previous time step, and when the timing has not reached the preset sending cycle, if new position information and new speed information are received from the host computer, the new position information and new speed information can overwrite the previously received position information and speed information, so that the controller controls each target axis according to the new position information and new speed information, that is, the controller can adjust the speed of each target axis to the fourth target speed corresponding to the new speed information at a preset acceleration, and then, after the speed reaches the fourth target speed, each target axis can be moved to the second target position corresponding to the new position information at the fourth target speed.

[0103] In some feasible implementations, each time a motion instruction is received, a timing may be started. If the timing reaches a preset sending cycle and new position information and new speed information sent by the host computer have not been received, each target axis may be controlled to stop moving according to a preset stop motion program after each target axis moves to the target position corresponding to each position information. The preset sending cycle may be determined according to the actual situation of the host computer. If no motion instruction is received within the preset sending cycle, the controller will determine that the sending has ended, so as to avoid the situation where the target axis is out of control due to a fault in the host computer, thereby improving the safety of multi-axis motion control.

[0104] In some feasible implementations, the preset acceleration may be the maximum acceleration in the axis configuration information.

[0105] It will be appreciated that acceleration and jerk may be positive or negative values.

[0106] In some feasible implementations, the controller also includes a shared memory, and the controller and the real-time data interface interact using the shared memory. The real-time data interface can upload motion parameter information to the shared memory, and the controller can read the latest motion parameter information from the shared memory.

[0107] In this embodiment, by formulating a speed control strategy within a preset delivery cycle, motion planning within a longer preset delivery cycle can be achieved, so that the speed or position of the target axis can smoothly transition to the target speed or target position specified in the motion instruction within the preset delivery cycle.

[0108] In an exemplary embodiment, obtaining the motion parameter information corresponding to each target axis includes:

[0109] In response to the motion parameter setting operation on the script editing interface, motion parameter information corresponding to each target axis is obtained.

[0110] Wherein, the script editing interface may refer to an interface for editing a multi-axis motion control script. In some feasible implementations, the script editing interface may be a graphical interface, which may allow a user to create program logic by dragging and dropping and connecting graphic elements, such as nodes, blocks or icons, etc., without the need to write traditional text code. The script editing interface includes a motion parameter information input element, which may refer to an element for inputting or modifying motion parameter information, including at least one of a motion parameter information input box, a motion parameter information drop-down box, a motion parameter information text area, a motion parameter information check box, a motion parameter information radio button, etc. In script editing, program logic may be operated through a graphical interface, but the specific motion parameter information involved therein still requires the user to determine at least part of the information according to the actual needs of the current multi-axis motion scene, and this part of information may be input by the user into the motion parameter information input element of the script editing interface, or may be displayed through the motion parameter information input element.

[0111] Exemplarily, when the target axis is not in motion, the user can set or modify the motion parameter information corresponding to the target axis through the motion parameter information input elements on the script editing interface, and can also edit the script through the script editing interface; after detecting the motion parameter setting operation on the script editing interface, the motion parameter information input by the user for each target axis can be obtained.

[0112] In some feasible implementations, the motion parameter information includes at least necessary motion parameter information and may also include optional motion parameter information, and the script editing interface may include mandatory motion parameter items and optional motion parameter items; in response to the motion parameter setting operation on the script editing interface, obtaining the motion parameter information corresponding to each target axis may include: in response to the motion parameter setting operation for the mandatory motion parameter items, obtaining the necessary motion parameter information corresponding to each target axis, and in response to the motion parameter setting operation for the optional motion parameter items, obtaining the optional motion parameter information corresponding to each target axis.

[0113] In the present embodiment, compared with the method of inputting or modifying motion parameter information in the script, the present embodiment extracts the motion parameter information from the script, and displays and edits it separately through the motion parameter information input element. In this way, when the program logic does not need to be modified, but only the motion parameter information needs to be modified, there is no need to search for the motion parameter information to be modified from a large amount of complex codes. The motion parameter information can be quickly input and modified through the motion parameter information input element of the script editing interface.

[0114] In an exemplary embodiment, in response to an axis configuration operation on a multi-axis configuration interface in an editable state, obtaining axis configuration information corresponding to each of a plurality of target axes includes steps S21 to S23. Among them:

[0115] Step S21 , in response to an axis configuration operation on a multi-axis configuration interface in an editable state, obtaining configuration information to be authorized corresponding to each of a plurality of target axes.

[0116] It should be noted that configuration information plays an important role in ensuring the security and stability of the system. If the configuration information is changed due to malicious intent or operational errors, it may cause system instability or functional failure.

[0117] Exemplarily, when the multi-axis configuration interface is in an editable state, the user can configure one or more axes through the multi-axis configuration interface. After the editing is completed, the configuration can be completed through a confirmation operation on the multi-axis configuration interface, such as clicking a confirmation button, etc., wherein the confirmation operation is used to confirm that the configuration information currently input on the multi-axis configuration interface will be used as the axis configuration information; when an axis configuration operation is detected for the multi-axis configuration interface in an editable state, the configuration information to be authorized entered through the multi-axis configuration interface can be obtained during the user editing process, and the configuration information to be authorized finally determined in the multi-axis configuration interface can be obtained after the confirmation operation is detected.

[0118] Step S22, in response to the authorization operation on the multi-axis configuration interface in the editable state, obtaining authorization verification information.

[0119] The authorization verification information may refer to information used to verify the user's authority to modify the configuration information, and may be at least one of facial recognition information, password information, etc. Different authorization verification information may be set for each axis, or the same authorization verification information may be set for multiple axes. The specific information may be determined according to actual conditions, and this embodiment does not limit this.

[0120] Exemplarily, after completing the configuration, the user can trigger the authorization operation through the authorization element of the multi-axis configuration interface and enter the authorization verification information; when the authorization operation for the multi-axis configuration interface in the editable state is detected, the authorization verification information entered by the user is obtained.

[0121] Step S23: when the authorization verification information passes the verification, the configuration information to be authorized is determined as the axis configuration information.

[0122] Exemplarily, after the authorization verification information is acquired, the authorization verification information may be verified. If the authorization verification information passes the verification, the configuration information to be authorized may be determined as the axis configuration information.

[0123] In this embodiment, through the authorization verification method, it is possible to avoid configuration information changes due to misoperation, and to a certain extent, it is also possible to avoid malicious modification of the configuration information, thereby effectively improving the security and stability of the system.

[0124] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0125] Based on the same inventive concept, the embodiment of the present application also provides a multi-axis motion control device for implementing the multi-axis motion control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more multi-axis motion control device embodiments provided below can refer to the limitations of the multi-axis motion control method above, and will not be repeated here.

[0126] In an exemplary embodiment, Figure 4As shown, a multi-axis motion control device is provided, including: a setting module 402, a first acquisition module 404, a first acquisition module 406 and a control module 408, wherein:

[0127] The setting module 402 is used to set the multi-axis configuration interface to an editable state when the controller is in an uninitialized state;

[0128] A first acquisition module 404 is used to obtain axis configuration information corresponding to each of the multiple target axes in response to an axis configuration operation on the multi-axis configuration interface in an editable state;

[0129] The second acquisition module 406 is used to acquire the motion parameter information corresponding to each target axis;

[0130] The control module 408 is used to control each target axis to move according to the axis configuration information and motion parameter information corresponding to each target axis through a controller.

[0131] In an exemplary embodiment, the controller includes a main control system state machine and a driving force control system state machine; the control module 408 is also used for:

[0132] In response to a trigger operation on the multi-axis configuration interface in an editable state, the configuration information of each axis is transmitted to the state machine of the main control system;

[0133] When the main control system state machine determines that the configuration information of each axis has passed the verification, the configuration information of each axis is transmitted to the driving force control system state machine;

[0134] When the configuration information of each axis is verified through the driving force control system state machine, the controller is switched to the initialization state;

[0135] When the controller is in an initialization state, the controller controls each target axis to move according to the axis configuration information and motion parameter information corresponding to each target axis.

[0136] In an exemplary embodiment, the controller includes a real-time data interface; the second acquisition module 406 is further used to:

[0137] In real-time control mode, the motion parameter information periodically sent by the host computer is received through the real-time data interface.

[0138] In an exemplary embodiment, the motion parameter information includes at least one of position information, speed information and acceleration information; the control module 408 is further configured to perform at least one of the following operations:

[0139] Through the controller, according to the axis configuration information, speed information and acceleration information corresponding to each target axis, the acceleration of each target axis is adjusted to the first target acceleration corresponding to the acceleration information with a preset jerk, and the speed of each target axis is adjusted to the first target speed corresponding to the speed information; if new speed information and new acceleration information sent by the upper computer are received within a preset sending period, then through the controller, according to the axis configuration information, new speed information and acceleration information corresponding to each target axis, the acceleration of each target axis is adjusted to the second target acceleration corresponding to the new acceleration information with a preset jerk, and the speed of each target axis is adjusted to the second target speed corresponding to the new speed information;

[0140] Through the controller, according to the axis configuration information, position information and speed information corresponding to each target axis, the speed of each target axis is adjusted to the third target speed corresponding to the speed information with a preset acceleration, and each target axis is moved to the first target position corresponding to the position information at the third target speed; if new position information and new speed information are received from the upper computer within the preset sending cycle, then through the controller, according to the axis configuration information, new position information and new speed information corresponding to each target axis, the speed of each target axis is adjusted to the fourth target speed corresponding to the new speed information with a preset acceleration, and each target axis is moved to the second target position corresponding to the new position information at the fourth target speed.

[0141] In an exemplary embodiment, the multi-axis motion control system further includes a script editing interface, and the script editing interface includes a motion parameter information input element; the second acquisition module 406 is further used to:

[0142] In response to the motion parameter setting operation for the motion parameter information input element, the motion parameter information corresponding to each target axis is acquired.

[0143] In an exemplary embodiment, the first acquisition module 404 is further configured to:

[0144] In response to an axis configuration operation on a multi-axis configuration interface in an editable state, obtaining configuration information to be authorized corresponding to each of the plurality of target axes;

[0145] In response to an authorization operation on the multi-axis configuration interface in an editable state, obtaining authorization verification information;

[0146] When the authorization verification information passes the verification, the configuration information to be authorized is determined as the axis configuration information.

[0147] Each module in the above multi-axis motion control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0148] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 5 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (Near Field Communication, NFC) or other technologies. When the computer program is executed by the processor, a multi-axis motion control method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0149] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0150] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0151] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0152] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0153] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0154] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0155] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0156] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A multi-axis motion control method, characterized in that: The method is applied to a multi-axis motion control system, the multi-axis motion control system includes a multi-axis configuration interface and a controller, and the method includes: When the controller is in an uninitialized state, setting the multi-axis configuration interface to an editable state; In response to an axis configuration operation on the multi-axis configuration interface in an editable state, acquiring axis configuration information corresponding to each of the plurality of target axes; Obtaining motion parameter information corresponding to each of the target axes; Through the controller, each of the target axes is controlled to move according to the axis configuration information and motion parameter information corresponding to each of the target axes.

2. The method according to claim 1, characterized in that The controller includes a main control system state machine and a driving force control system state machine; the controller controls each of the target axes to move according to the axis configuration information and motion parameter information corresponding to each of the target axes, including: In response to a trigger operation on the multi-axis configuration interface in an editable state, transmitting each axis configuration information to the main control system state machine, wherein the trigger operation is used to instruct the controller to establish a connection with other components in the multi-axis motion control system; When the main control system state machine determines that each of the shaft configuration information has passed verification, the shaft configuration information is transmitted to the driving force control system state machine; When it is determined by the driving force control system state machine that each of the shaft configuration information has passed verification, switching the controller to an initialization state; When the controller is in an initialized state, the controller controls each of the target axes to move according to the axis configuration information and motion parameter information corresponding to each of the target axes.

3. The method according to claim 1, characterized in that The controller includes a real-time data interface; the obtaining of the motion parameter information corresponding to each of the target axes includes: In the real-time control mode, the motion parameter information periodically sent by the host computer is received through the real-time data interface.

4. The method according to claim 3, characterized in that The motion parameter information includes at least one of position information, speed information and acceleration information; the controller controls each target axis to move according to the axis configuration information and motion parameter information corresponding to each target axis, including at least one of the following: By means of the controller, according to the axis configuration information, speed information and acceleration information corresponding to each of the target axes, the acceleration of each of the target axes is adjusted to the first target acceleration corresponding to the acceleration information by a preset jerk, and the speed of each of the target axes is adjusted to the first target speed corresponding to the speed information; If new speed information and new acceleration information sent by the host computer are received within the preset sending cycle, the controller adjusts the acceleration of each target axis to the second target acceleration corresponding to the new acceleration information with a preset jerk, and adjusts the speed of each target axis to the second target speed corresponding to the new speed information, according to the axis configuration information, new speed information and acceleration information corresponding to each target axis. By means of the controller, according to the axis configuration information, position information and speed information corresponding to each of the target axes, the speed of each of the target axes is adjusted to a third target speed corresponding to the speed information at a preset acceleration, and each of the target axes is moved to a first target position corresponding to the position information at the third target speed; If new position information and new speed information are received from the host computer within the preset sending cycle, the controller will adjust the speed of each target axis to a fourth target speed corresponding to the new speed information with a preset acceleration according to the axis configuration information, new position information and new speed information corresponding to each target axis, and move each target axis to the second target position corresponding to the new position information at the fourth target speed.

5. The method according to claim 1, characterized in that The multi-axis motion control system further comprises a script editing interface, wherein the script editing interface comprises a motion parameter information input element; The obtaining of the motion parameter information corresponding to each of the target axes includes: In response to a motion parameter setting operation on the motion parameter information input element, motion parameter information corresponding to each of the target axes is acquired.

6. The method according to any one of claims 1 to 5, characterized in that: The step of obtaining, in response to an axis configuration operation on the multi-axis configuration interface in an editable state, axis configuration information corresponding to each of the plurality of target axes comprises: In response to an axis configuration operation on the multi-axis configuration interface in an editable state, obtaining configuration information to be authorized corresponding to each of the plurality of target axes; In response to an authorization operation on the multi-axis configuration interface in an editable state, obtaining authorization verification information; When the authorization verification information passes the verification, the configuration information to be authorized is determined as the axis configuration information.

7. A multi-axis motion control device, characterized in that: The device is applied to a multi-axis motion control system, which includes a multi-axis configuration interface and a controller; the device includes: A setting module, used for setting the multi-axis configuration interface to an editable state when the controller is in an uninitialized state; A first acquisition module, configured to acquire axis configuration information corresponding to each of the plurality of target axes in response to an axis configuration operation on the multi-axis configuration interface in an editable state; A second acquisition module is used to acquire motion parameter information corresponding to each of the target axes; The control module is used to control each of the target axes to move according to the axis configuration information and motion parameter information corresponding to each of the target axes through the controller.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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