Position determination method, apparatus, device, and storage medium

Abstract

The application discloses a position determination method, device and equipment and a storage medium, and relates to the technical field of magnetic suspension. The magnetic suspension line body comprises a plurality of conveying sections, the method comprises the following steps: acquiring a feedback position value of each conveying section and the length of a mover on the magnetic suspension line body; determining a target position value according to the interval between two adjacent feedback position values and the length of the mover; and determining the position of the mover according to the target position value. Thus, the technical problem that a mover position determination method applied to a magnetic suspension system is urgently needed in the prior art can be solved.

Description

Technical Field

[0001] This application relates to a method, apparatus, device, and storage medium for determining a location, and relates to the field of magnetic levitation technology. Background Technology

[0002] In the field of magnetic levitation technology, high-speed and high-precision motion control of the mover is achieved through a closed-loop control system. Position feedback of the mover in a closed-loop control system typically relies on an encoder, which allows the position of the mover to be acquired in real time.

[0003] In related technologies, encoders are mounted on the mover and move with the mover. However, in magnetic levitation systems, the encoder is mounted on the line and does not move with the mover. Therefore, there is an urgent need for a method to determine the position of the mover in magnetic levitation systems. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for determining the position of a mover in a magnetic levitation system, thereby at least addressing the technical problem of the urgent need for a method for determining the position of a mover in a magnetic levitation system. The technical solution of this application is as follows:

[0005] According to a first aspect of the embodiments of this application, a position determination method is provided, wherein a magnetic levitation line includes multiple transport segments, and the method includes: acquiring a feedback position value of each transport segment and the length of a mover on the magnetic levitation line; determining a target position value based on the distance between two adjacent feedback position values ​​and the length of the mover; and determining the position of the mover based on the target position value.

[0006] In one possible implementation, determining the target position value based on the distance between two adjacent feedback position values ​​and the length of the mover includes: when the distance is equal to the length of the mover and two adjacent feedback position values ​​belong to two adjacent conveying sections, determining the midpoint of the two adjacent feedback position values ​​as the target position value.

[0007] In one possible implementation, determining the target position value based on the distance between two adjacent feedback position values ​​and the length of the mover includes: when the distance is not equal to the length of the mover, determining both adjacent feedback position values ​​as the target position value.

[0008] In one possible implementation, determining the position of the mover based on the target position value includes: determining the target conveying segment to which the target position value belongs; determining the total length of the conveying segment preceding the target conveying segment; and determining the position of the mover by summing the total length of the conveying segment with the target position value.

[0009] According to a second aspect of the embodiments of this application, a position determination device is provided. The magnetic levitation line includes multiple transport segments. The device includes: an acquisition unit and a determination unit; the acquisition unit is used to acquire the feedback position value of each transport segment and the length of a mover on the magnetic levitation line; the determination unit is used to determine a target position value based on the distance between two adjacent feedback position values ​​and the length of the mover; the determination unit is further used to determine the position of the mover based on the target position value.

[0010] In one possible implementation, the determining unit in the above-mentioned position determining device is specifically used to: determine the midpoint of two adjacent feedback position values ​​as the target position value when the spacing is equal to the length of the mover and two adjacent feedback position values ​​belong to two adjacent conveying sections.

[0011] In one possible implementation, the determining unit in the above-described position determining device is specifically used to: determine two adjacent feedback position values ​​as target position values ​​when the spacing is not equal to the length of the mover.

[0012] In one possible implementation, the determining unit in the above-described position determining device is specifically used for: determining the target conveying segment to which the target position value belongs; determining the total length of the conveying segment before the target conveying segment; and determining the position of the mover by summing the total length of the conveying segment and the target position value.

[0013] According to a third aspect of the embodiments of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the first aspect described above and any possible implementation thereof.

[0014] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, which, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the methods of the first aspect and any possible implementation thereof.

[0015] According to a fifth aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions, which, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0016] The technical solution of the first aspect provided by the embodiments of this application has at least the following beneficial effects:

[0017] The technical solution provided in this application first obtains the feedback position value of each conveying segment and the length of the mover on the magnetic levitation line. Then, based on the distance between two adjacent feedback position values ​​and the length of the mover, a target position value is determined. Furthermore, the position of the mover is determined based on the target position value. Thus, when the encoder is installed on the line, a method for determining the position of the mover is implemented.

[0018] It should be noted that the technical effects of any of the implementation methods in aspects two through five can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0021] Figure 1 This is a flowchart illustrating a position determination method according to an exemplary embodiment;

[0022] Figure 2 This is a flowchart illustrating a position determination method according to an exemplary embodiment;

[0023] Figure 3 This is a flowchart illustrating a position determination method according to an exemplary embodiment;

[0024] Figure 4 This is a flowchart illustrating a position determination method according to an exemplary embodiment;

[0025] Figure 5 This is a block diagram illustrating a position determining device according to an exemplary embodiment;

[0026] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0027] In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order different from those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are only examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0029] Before introducing the position determination method provided by this application in detail, a brief introduction to the application scenarios involved in this application will be given first.

[0030] In the field of magnetic levitation technology, the motion control of the mover is achieved through a closed-loop control system. In the closed-loop control system, the position feedback of the mover generally relies on an encoder for feedback, and the position of the mover can be obtained in real time through the encoder.

[0031] In the related art, the encoder is installed on the mover and moves with the mover. The grating / magnetic grating配套with the encoder is installed on the wire body on the side of the guide rail. The encoder is connected to the corresponding servo drive of the encoder through an encoder cable and feeds back the physical position of the mover to the servo drive. However, in the magnetic levitation system, the encoder is installed on the wire body and does not move with the mover. The grating / magnetic grating配套with the encoder is installed on the mover. Therefore, there is an urgent need for a method for determining the position of the mover applied to the magnetic levitation system.

[0032] Figure 1 is a flowchart of a position determination method shown according to an exemplary embodiment. This method can be applied to an electronic device, or to a position determination device connected to or located inside the electronic device. Hereinafter, taking this method applied to an electronic device as an example, this method will be described. As Figure 1 shown, the magnetic levitation wire body includes multiple conveying sections, and this position determination method includes the following steps:

[0033] S101. The electronic device obtains the feedback position value of each conveying section and the length of the mover on the magnetic levitation wire body.

[0034] Among them, the feedback position value of each conveying section is the absolute position on this conveying section.

[0035] As a possible implementation manner, when the encoder installed on the mover moves to a conveying section, the grating / magnetic grating installed on the conveying section obtains the position of the encoder and feeds back the position of the mover to the electronic device. Correspondingly, the electronic device receives the feedback position value of each conveying section.

[0036] The electronic device retrieves the length of the mover from the mover information.

[0037] It should be noted that when there is no moving part on the conveyor section, the conveyor section does not provide a position feedback value.

[0038] For example, Table 1 below shows the feedback position values ​​for each conveyor segment.

[0039] Table 1 Feedback position values ​​for the conveyor section: .

[0040] The feedback position values ​​of conveying section 1 include position 1, position 2 and position 3; the feedback position values ​​of conveying section 2 include position 4, position 5 and position 6; the feedback position values ​​of conveying section 3 include position 7, position 8 and position 9; the feedback position values ​​of conveying section 4 include position 10, position 11 and position 12; and the feedback position values ​​of conveying section 5 include position 13 and position 14.

[0041] S102. The electronic device determines the target position value based on the distance between two adjacent feedback position values ​​and the length of the mover.

[0042] As one possible implementation, when the spacing is equal to the length of the mover and two adjacent feedback position values ​​belong to two adjacent transport sections, the electronic device determines the midpoint of the two adjacent feedback position values ​​as the target position value.

[0043] When the spacing is not equal to the length of the mover, the electronic device will determine the target position value as both adjacent feedback position values.

[0044] S103. The electronic device determines the position of the mover based on the target position value.

[0045] As one possible implementation, electronic devices determine the target transport segment to which the target location value belongs.

[0046] Then, the electronic equipment determines the total length of the transport segment before the target transport segment.

[0047] Furthermore, the electronic device determines the position of the mover by summing the total length of the transport segment with the target position value.

[0048] Understandably, the technical solution provided in this application first obtains the feedback position value of each conveying segment and the length of the mover on the magnetic levitation line. Then, based on the distance between two adjacent feedback position values ​​and the length of the mover, a target position value is determined. Furthermore, the position of the mover is determined based on the target position value. In this way, when the encoder is installed on the line, a method for determining the position of the mover is implemented.

[0049] In some embodiments, in order to determine the target location value, such as Figure 2 As shown, in the location determination method provided in this application embodiment, the above-mentioned S102 specifically includes the following steps:

[0050] S201. The electronic device determines whether the spacing is equal to the length of the mover.

[0051] For example, feedback position value 3 is 480, feedback position value 4 is 0, feedback position value 6 is 560, feedback position value 7 is 80, feedback position value 9 is 640, and feedback position value 10 is 160.

[0052] Since the length of the conveyor section is 640 and the length of the mover is 160, the distances between feedback positions 3 and 4, between feedback positions 6 and 7, and between feedback positions 9 and 10 are all equal to the length of the mover.

[0053] S202. The electronic device determines whether two adjacent feedback position values ​​belong to two adjacent transport sections.

[0054] For example, feedback position value 3 belongs to conveyor section 1, feedback position value 4 belongs to conveyor section 2, feedback position value 6 belongs to conveyor section 2, feedback position value 7 belongs to conveyor section 3, feedback position value 9 belongs to conveyor section 3, and feedback position value 10 belongs to conveyor section 4.

[0055] As can be seen from the above, feedback position value 3 and feedback position value 4, feedback position value 6 and feedback position value 7, and feedback position value 9 and feedback position value 10 all belong to two adjacent conveyor sections.

[0056] S203. When the spacing is equal to the length of the mover, and two adjacent feedback position values ​​belong to two adjacent conveyor sections, the electronic equipment determines the midpoint of the two adjacent feedback position values ​​as the target position value.

[0057] As can be seen from the above, feedback positions 3 and 4 reflect the position where the edge of the mover just touches the conveyor section 2, feedback positions 6 and 7 reflect that the center point of the mover is just in the middle of the conveyor section 2 and the conveyor section 3, and feedback positions 9 and 10 reflect that the mover is just about to leave the conveyor section 3.

[0058] Therefore, the electronic device determines feedback positions 3 and 4 as feedback positions generated by the same mover. The electronic device also determines feedback positions 6 and 7 as feedback positions generated by the same mover. Furthermore, the electronic device determines feedback positions 9 and 10 as feedback positions generated by the same mover.

[0059] Understandably, the technical solution provided in this application determines the target position value by setting the midpoint between two adjacent feedback position values ​​when the spacing is equal to the length of the mover and two adjacent feedback position values ​​belong to two adjacent conveyor sections. Since each conveyor section on the line is equipped with an encoder, when the mover connects to two conveyor sections, two conveyor sections will simultaneously generate feedback position values. By using this method to convert the two feedback position values ​​into a target position value, the accurate position of the mover can be determined.

[0060] In some embodiments, in order to determine the target location value, such as Figure 3 As shown, in the location determination method provided in this application embodiment, the above-mentioned S102 specifically includes the following steps:

[0061] S301. Electronic equipment determines whether the spacing is equal to the length of the mover.

[0062] S302. When the spacing is not equal to the length of the mover, the electronic device will determine the two adjacent feedback position values ​​as the target position values.

[0063] As can be seen from the above, the distances between feedback position values ​​1 and 2, 2 and 3, 4 and 5, 5 and 6, 7 and 8, 8 and 9, 10 and 11, and 11 and 12 are all not equal to the length of the mover. Therefore, the electronic device determines all of the above feedback position values ​​as the target position values.

[0064] Understandably, the technical solution provided in this application determines the target position value by setting both adjacent feedback position values ​​when the spacing is not equal to the length of the mover. Thus, when the spacing is not equal to the length of the mover, it indicates that the two feedback position values ​​are generated based on two different movers. By setting both of these adjacent feedback position values ​​as target position values, the accurate position of the mover can be determined.

[0065] In some embodiments, in order to determine the position of the mover, such as Figure 4 As shown, in the location determination method provided in this application embodiment, the above-mentioned S103 specifically includes the following steps:

[0066] S401. Electronic equipment determines the target transport section to which the target location value belongs.

[0067] For example, if the feedback location value 8 belongs to transport segment 3, then the electronic device determines that the target transport segment is transport segment 3.

[0068] S402. Electronic equipment determines the total length of the transport section before the target transport section.

[0069] For example, if the conveying segments 3 include conveying segments 1 and 2, then the electronic device determines that the total length of the conveying segments before the target conveying segment is the sum of the lengths of conveying segments 1 and 2. The lengths of both conveying segments 1 and 2 are 640, and the total length of the conveying segments before the target conveying segment is 640 + 640 = 1280.

[0070] S403. The electronic device determines the position of the mover by the sum of the total length of the conveying segment and the target position value.

[0071] For example, if the feedback position value 8 is 100, the electronic device determines the position of the mover on the line body to be 1380.

[0072] Understandably, the technical solution provided in this application first determines the target conveyor segment to which the target position value belongs. Then, it determines the total length of the conveyor segments preceding the target conveyor segment. Further, the sum of the total length of the conveyor segments and the target position value is used to determine the position of the mover. In this way, since the target position value is the absolute position on each conveyor segment, by pre-determining the total length of the conveyor segments preceding the target position value and then calculating the sum of the total length of the conveyor segments and the target position value, the absolute position of the mover on the entire line can be determined.

[0073] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the location determining device or electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0074] This application embodiment can, based on the above method, exemplarily divide a location determining device or electronic device into functional modules. For example, the location determining device or electronic device may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0075] For example, embodiments of this application also provide a location determination device.

[0076] In some embodiments, Figure 5 This is a block diagram illustrating a position determination device 500 according to an exemplary embodiment. (Refer to...) Figure 5 The magnetic levitation line includes multiple transport sections, and the position determination device 500 includes an acquisition unit 501 and a determination unit 502.

[0077] The acquisition unit 501 is used to acquire the feedback position value of each conveying segment and the length of the mover on the magnetic levitation line.

[0078] The determining unit 502 is used to determine the target position value based on the distance between two adjacent feedback position values ​​and the length of the mover.

[0079] The determining unit 502 is also used to determine the position of the mover based on the target position value.

[0080] Optional, such as Figure 5 As shown, the determining unit 502 provided in this embodiment is specifically used for:

[0081] When the spacing is equal to the length of the mover, and two adjacent feedback position values ​​belong to two adjacent conveyor sections, the midpoint of the two adjacent feedback position values ​​is determined as the target position value.

[0082] Optional, such as Figure 5 As shown, the determining unit 502 provided in this embodiment is specifically used for:

[0083] When the spacing is not equal to the length of the mover, both adjacent feedback position values ​​are determined as the target position values.

[0084] Optional, such as Figure 5 As shown, the determining unit 502 provided in this embodiment is specifically used for:

[0085] Determine the target transport segment to which the target location value belongs.

[0086] Determine the total length of the transport section before the target transport section.

[0087] The position of the mover is determined by the sum of the total length of the conveying section and the target position value.

[0088] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0089] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Figure 6As shown, the electronic device 600 includes, but is not limited to, a processor 601 and a memory 602.

[0090] The memory 602 described above is used to store the executable instructions of the processor 601. It is understood that the processor 601 is configured to execute instructions to implement the location determination method in the above embodiments.

[0091] It should be noted that those skilled in the art will understand that Figure 6 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 6 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0092] Processor 601 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 602, and by calling data stored in memory 602, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 601 may include one or more processing units. Optionally, processor 601 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 601.

[0093] The memory 602 can be used to store software programs and various data. The memory 602 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0094] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 602 including instructions, which can be executed by a processor 601 of an electronic device 600 to implement the position determination method in the above embodiments.

[0095] In actual implementation, Figure 5 The functions of the acquisition unit 501 and the determination unit 502 can both be provided by Figure 6 The processor 601 calls the computer program stored in the memory 602 to implement the process. The specific execution process can be found in the description of the location determination method in the previous embodiment, and will not be repeated here.

[0096] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0097] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 601 of an electronic device to complete the position determination method in the above embodiments.

[0098] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of the electronic device, they implement the various processes of the above-described location determination method embodiments and achieve the same technical effect as the above-described location determination method. To avoid repetition, they will not be described again here.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, 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 can be divided into different functional modules to complete all or part of the functions described above.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0101] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0102] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0103] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0104] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining a location, characterized in that, The magnetic levitation line includes multiple transport sections, and the method includes: Obtain the feedback position value of each conveying segment and the length of the mover on the magnetic levitation line; Determining a target position value based on the distance between two adjacent feedback position values ​​and the length of the mover includes: when the distance is equal to the length of the mover and the two adjacent feedback position values ​​belong to two adjacent conveying sections, the midpoint of the two adjacent feedback position values ​​is determined as the target position value. Determining the position of the mover based on the target position value includes: Determine the target transport segment to which the target location value belongs; Determine the total length of the conveyor section preceding the target conveyor section; The position of the mover is determined by the sum of the total length of the conveying section and the target position value.

2. The method according to claim 1, characterized in that, Determining the target position value based on the distance between two adjacent feedback position values ​​and the length of the mover includes: When the spacing is not equal to the length of the mover, both adjacent feedback position values ​​are determined as the target position value.

3. A position determining device, characterized in that, The magnetic levitation line includes multiple transport sections, and the device includes: an acquisition unit and a determination unit; The acquisition unit is used to acquire the feedback position value of each conveying segment and the length of the mover on the magnetic levitation line. The determining unit is used to determine the target position value based on the distance between two adjacent feedback position values ​​and the length of the mover, specifically for: When the spacing is equal to the length of the mover, and the two adjacent feedback position values ​​belong to two adjacent conveying sections, the midpoint of the two adjacent feedback position values ​​is determined as the target position value. The determining unit is further configured to determine the position of the mover based on the target position value, specifically configured to: Determine the target transport segment to which the target location value belongs; Determine the total length of the conveyor section preceding the target conveyor section; The position of the mover is determined by the sum of the total length of the conveying section and the target position value.

4. The apparatus according to claim 3, characterized in that, The determining unit is specifically used for: When the spacing is not equal to the length of the mover, both adjacent feedback position values ​​are determined as the target position value.

5. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 2.

6. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is capable of performing the method as described in any one of claims 1 to 2.

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