Speed determination and motion control method and device and motion control system

Abstract

The embodiment of the invention provides a speed determination and motion control method and device and a motion control system, which are mainly applied to motion control of conveyor belt equipment. The operation characteristics of a conveyor belt in the conveyor belt equipment conform to the motion description of seven sections of double-S-shaped curves. The speed determination method comprises the following steps: obtaining the total displacement S, the total time T, the acceleration a of a uniform acceleration stage and the jerk J of a jerk stage in the motion process of the corresponding conveyor belt; and according to the total displacement S, the total time T, the acceleration a and the jerk J, the ideal maximum speed V3 of the conveying belt in the movement process is determined. The motion control method comprises the following steps: determining the real-time speed of the conveyor belt in the motion process by using a preset position interpolation algorithm according to the preset total displacement S, acceleration a, jerk J and the determined ideal maximum speed V3 of the conveyor belt in the motion process; and outputting the determined real-time speed to the conveyor belt equipment.

Description

Technical Field

[0001] The present disclosure relates to the technical field of conveyor belt equipment and its control technology, and particularly to a speed determination and motion control method, device, and motion control system. Background Art

[0002] After the press multi-station automatic feeding system cooperates with the press to complete one feeding, the feeding conveyor belt in the automatic feeding system needs to send the material to the material taking preparation position to ensure that the feeding system can successfully complete the next material taking.

[0003] The feeding conveyor belt of the traditional automatic feeding system uses a speed control mode, giving a relatively large speed to the feeding conveyor belt. Due to the heavy steel sheet material, there is occasionally a phenomenon of sheet displacement when it stops at the preparation position, resulting in subsequent processing position deviation or even sheet grabbing failure. Summary of the Invention

[0004] In view of this, the present disclosure provides a speed determination and motion control method, device, and motion control system for at least partially solving the above technical problems.

[0005] In a first aspect, the present disclosure provides a speed determination method applied to the motion control of a conveyor belt device. The motion process of the conveyor belt in the conveyor belt device adopts a seven-segment double S-shaped curve. The method includes: obtaining the total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage corresponding to the motion process of the conveyor belt; determining the ideal maximum speed V3 of the motion process of the conveyor belt according to the total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage.

[0006] In a second aspect, the present disclosure provides a motion control method for a conveyor belt device. The method includes: determining the ideal maximum speed V3 of the motion process of the conveyor belt according to the speed determination method described in the first aspect; using a preset position interpolation algorithm to determine the real-time speed of the conveyor belt during the motion process according to the preset total displacement S, acceleration a in the uniform acceleration stage, jerk J in the jerk acceleration stage, and the determined ideal maximum speed V3 of the motion process of the conveyor belt; outputting the real-time speed of the conveyor belt during the motion process to the conveyor belt device to control the motor operation in the conveyor belt device.

[0007] In a third aspect, the present disclosure provides a speed determination device, which is applied to the motion control of a conveyor belt device. The motion process of the conveyor belt in the conveyor belt device adopts a seven-segment double S-shaped curve. The device includes: an acquisition module, configured to acquire the total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage corresponding to the motion process of the conveyor belt; a first determination module, configured to determine an ideal maximum speed V3 of the motion process of the conveyor belt according to the total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage.

[0008] In a fourth aspect, the present disclosure provides a motion control device for a conveyor belt device. The device includes: a second determination module, configured to determine an ideal maximum speed V3 of the motion process of the conveyor belt according to the speed determination method described in the first aspect; a third determination module, configured to use a preset position interpolation algorithm to determine a real-time speed of the conveyor belt during the motion process according to the preset total displacement S, acceleration a in the uniform acceleration stage, jerk J in the jerk acceleration stage, and the determined ideal maximum speed V3 of the motion process of the conveyor belt; an output module, configured to output the real-time speed of the conveyor belt during the motion process to the conveyor belt device to control the motor operation in the conveyor belt device.

[0009] In a fifth aspect, the present disclosure provides a motion control system for a conveyor belt device. The system includes: a controller, configured to output a real-time speed of the conveyor belt during the motion process according to the motion control method of the conveyor belt device described in the second aspect; a drive controller, configured to receive the real-time speed of the conveyor belt output by the controller, convert the real-time speed into motor drive parameters, and output the motor drive parameters; a motor, configured to receive the motor drive parameters output by the drive controller and perform operations based on the received motor drive parameters.

[0010] In a sixth aspect, the present disclosure provides an electronic device. The electronic device includes: a processor, a communication interface, a memory, and a bus. The processor, the communication interface, and the memory complete communication with each other through the bus; the memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform operations corresponding to the method described in the first aspect or the second aspect.

[0011] In a seventh aspect, the present disclosure provides a machine-readable storage medium. A machine instruction is stored on the machine-readable storage medium. When the machine instruction is executed by a processor, the processor is caused to execute the method described in the first aspect or the second aspect.

[0012] In an embodiment of the present application, the running process of the conveyor belt in the conveyor belt device is described as a seven-segment double S-shaped curve. The ideal maximum speed V3 of the movement process of the conveyor belt is determined according to the total displacement S, the total time T, the acceleration a in the uniform acceleration stage, and the jerk J in the jolt acceleration stage of the movement process corresponding to the conveyor belt. This ideal maximum speed V3 satisfies the minimum feeding speed under the maximum feeding beat, avoids slipping during the process of the conveyor belt device transporting materials, solves the possible material displacement phenomenon when stopping at the preparation position during material transportation, and improves the production efficiency of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a flowchart of a speed determination method for motion control applied to a conveyor belt device according to an embodiment of the present disclosure.

[0014] Figure 2 shows a schematic diagram of an exemplary seven-segment double S-shaped curve.

[0015] Figure 3 is a structural diagram of a speed determination device for motion control applied to a conveyor belt device according to an embodiment of the present disclosure.

[0016] Figure 4 is a flowchart of a motion control method for a conveyor belt device according to an embodiment of the present disclosure.

[0017] Figure 5 is a structural diagram of a motion control device for a conveyor belt device according to an embodiment of the present disclosure.

[0018] Figure 6 is a structural diagram of a motion control system for a conveyor belt device according to an embodiment of the present disclosure.

[0019] Figure 7 is a structural diagram of an electronic device according to an embodiment of the present disclosure.

[0020] LIST OF REFERENCE NUMERALS:

[0021] Speed determination device 300; Obtaining module 310;

[0022] First determination module 320; Motion control device 500 of the conveyor belt device;

[0023] Second determination module 510; Third determination module 520;

[0024] Output module 530; Motion control system 600 of the conveyor belt device;

[0025] Controller 610; Drive controller 620;

[0026] Motor 630; Electronic device 700;

[0027] Processor 702; communication interface 704;

[0028] Memory 706; bus 708;

[0029] Program 710. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other technical solutions obtained by those of ordinary skill in the art based on the embodiments in the present application fall within the protection scope of the present application.

[0031] Figure 1 The flowchart of a speed determination method applied to the motion control of a conveyor belt device according to an embodiment of the present disclosure is shown. The operating characteristics of the conveyor belt in the conveyor belt device conform to the motion description of a seven-segment double S-shaped curve. For example, Figure 2 The schematic diagram of an exemplary seven-segment double S-shaped curve is shown, including seven stages: a positive jerk stage, a constant acceleration stage, a negative jerk stage, a constant speed stage, a positive deceleration stage, a constant deceleration stage, and a negative deceleration stage. As Figure 1 shown, the method includes: in step S110, obtaining the total displacement S, total time T, acceleration a in the constant acceleration stage, and jerk J in the positive jerk stage corresponding to the motion process of the conveyor belt. In step S120, according to the total displacement S, total time T, acceleration a in the constant acceleration stage, and jerk J in the positive jerk stage, determining the ideal maximum speed V3 of the motion process of the conveyor belt.

[0032] In this embodiment, optionally, step S120 can be further implemented as: using a first formula, according to the preset total displacement S, total time T, acceleration a in the constant acceleration stage, and jerk J in the positive jerk stage, determining the ideal maximum speed V3 of the motion process of the conveyor belt; the first formula is: Optionally, step S120 can be further implemented as: using an equivalent transformation or a simple transformation of the first formula, according to the preset total displacement S, total time T, acceleration a in the constant acceleration stage, and jerk J in the positive jerk stage, determining the maximum speed V of the motion process of the conveyor belt; an equivalent transformation of the first formula can be, for example: a = JT1, where V1 is the maximum speed in the positive jerk stage and T1 is the duration of the positive jerk stage.

[0033] In the method of this embodiment, for example but not limited to, it is applied to a press system, which includes a conveyor belt device. After the press system starts working, the automatic manipulator takes away the sheet metal in the preparation area. At this time, the conveyor belt device needs to transport the materials required for the next stamping to the preparation area for the press system to use when the next stamping starts. The method may also optionally include: obtaining the preset total displacement S, the acceleration a in the uniform acceleration stage, and the jerk J in the jerk acceleration stage; determining the total time T according to the maximum feeding beat of the preset press system. It can be understood that the preset parameters involved in this embodiment can be obtained through process documents, for example but not limited to, can be obtained by manual input by the operator through the human-machine interface.

[0034] In this embodiment, optionally, before step S120, the following first verification step may further be included: According to the total time T, the acceleration a in the uniform acceleration stage, the jerk J in the jerk acceleration stage, and the maximum limit speed V of the conveyor belt corresponding to the movement process of the conveyor belt max , calculate the maximum limit total displacement S of the conveyor belt max ; compare the calculated maximum limit total displacement S of the conveyor belt max with the preset total displacement S; if the preset total displacement S is less than the maximum limit total displacement S max , then proceed to step S110 later; if the preset total displacement S is not less than the maximum limit total displacement S max , then output a prompt message indicating that the total displacement S and the maximum feeding beat of this recipe setting cannot be supported.

[0035] In this embodiment, optionally, before step S120, the following second verification step may further be included: Compare the total time T corresponding to the movement process of the conveyor belt with where a and J are respectively the acceleration in the uniform acceleration stage and the jerk in the jerk acceleration stage corresponding to the movement process of the conveyor belt; if the total time T is greater than , then proceed to step S110 later; if the total time T is not greater than , then determine the speed of the conveyor belt corresponding to the rated speed of the motor in the conveyor belt device as the ideal maximum speed V3 of the movement process of the conveyor belt.

[0036] It should be noted that in this embodiment, the first verification step and the second verification step can be configured separately or in combination. Exemplarily, they can be configured in combination as: "According to the total time T, the acceleration a in the uniform acceleration stage, the jerk J in the jerk acceleration stage, and the maximum limit speed V of the conveyor belt corresponding to the movement process of the conveyor belt max , calculate the maximum limit total displacement S of the conveyor belt max ; compare the calculated maximum limit total displacement S of the conveyor beltmax and the preset total displacement S; if the preset total displacement S is less than the maximum allowable total displacement S max , then subsequently compare the total time T corresponding to the movement process of the conveyor belt with if the total time T is greater than then subsequently enter step S110. If the preset total displacement S is not less than the maximum allowable total displacement S max , then output a prompt message indicating that the total displacement S and the maximum feeding rhythm of this recipe setting cannot be supported. If the total time T is not greater than then determine the speed of the conveyor belt corresponding to the rated speed of the motor in the conveyor belt device as the ideal maximum speed V3 of the movement process of the conveyor belt". Exemplarily, it can be configured in combination as: "Compare the total time T corresponding to the movement process of the conveyor belt with where a and J are respectively the acceleration in the uniformly accelerating stage and the jerk in the jerk-accelerating stage corresponding to the movement process of the conveyor belt; if the total time T is greater than then subsequently, according to the total time T, the acceleration a in the uniformly accelerating stage, the jerk J in the jerk-accelerating stage, and the maximum allowable speed V of the conveyor belt max , calculate the maximum allowable total displacement S of the conveyor belt max ; compare the calculated maximum allowable total displacement S of the conveyor belt max and the preset total displacement S; if the preset total displacement S is less than the maximum allowable total displacement S max , then subsequently enter step S110. If the total time T is not greater than then determine the speed of the conveyor belt corresponding to the rated speed of the motor in the conveyor belt device as the ideal maximum speed V3 of the movement process of the conveyor belt. If the preset total displacement S is not less than the maximum allowable total displacement S max , then output a prompt message indicating that the total displacement S and the maximum feeding rhythm of this recipe setting cannot be supported".

[0037] To implement the control method of the above embodiments, other embodiments of the present invention also provide a speed determination device 300 for the movement control of a conveyor belt device, and the movement process of the conveyor belt in the conveyor belt device adopts a seven-segment double S-shaped curve. As Figure 3 shown, the device 300 includes an acquisition module 310 and a first determination module 320. It should be noted that since the following embodiments are to implement the foregoing method embodiments, each module in the device 300 is provided to implement each step of the method of the foregoing embodiments. Therefore, the present invention is not limited to the following embodiments, and any module that can implement the above method should be included in the protection scope of the present invention.

[0038] Specifically, the obtaining module 310 is configured to obtain the total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage corresponding to the movement process of the conveyor belt. The first determination module 320 is configured to determine the ideal maximum speed V3 of the movement process of the conveyor belt according to the total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage. Exemplarily, the first determination module 320 is further configured to use the first formula to determine the ideal maximum speed V3 of the movement process of the conveyor belt according to the preset total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage; the first formula is: Exemplarily, the first determination module 320 is further configured to use an equivalent transformation or a simple transformation of the first formula to determine the maximum speed V of the movement process of the conveyor belt according to the preset total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage; the equivalent transformation of the first formula may be, for example: a = JT1, where V1 is the maximum speed in the jerk acceleration stage and T1 is the duration of the jerk acceleration stage.

[0039] It should be noted that the speed determination method in the foregoing embodiment is a method embodiment corresponding to the speed determination device 300 in this embodiment. The speed determination device 300 in this embodiment can be implemented in cooperation with the speed determination method in the foregoing embodiment. The relevant technical details mentioned in the speed determination method in the foregoing embodiment are still valid in the speed determination device 300 in this embodiment. To avoid repetition, they will not be elaborated here.

[0040] Turn to Figure 4 , which shows a flowchart of a movement control method for a conveyor belt device. As Figure 4 shown, the movement control method includes: in step 410, determining the ideal maximum speed V3 of the movement process of the conveyor belt according to the speed determination method in the foregoing embodiment; in step 420, using a preset position interpolation algorithm to determine the real-time speed of the conveyor belt during the movement process according to the preset total displacement S, acceleration a in the uniform acceleration stage, jerk J in the jerk acceleration stage, and the determined ideal maximum speed V3 of the movement process of the conveyor belt; in step 430, outputting the real-time speed of the conveyor belt during the movement process to the conveyor belt device to control the operation of the motor 630 in the conveyor belt device. It should be noted that since step 410 determines the ideal maximum speed V3 of the movement process of the conveyor belt according to the speed determination method in the foregoing embodiment, the relevant technical details mentioned in the speed determination method in the foregoing embodiment are applicable to the movement control method of the conveyor belt device in this embodiment. To avoid repetition, they will not be elaborated here.

[0041] Similarly, to implement the motion control method of the conveyor belt device in the above embodiments, other embodiments of the present disclosure also provide a motion control device 500 for a conveyor belt device. The motion process of the conveyor belt in the conveyor belt device adopts a seven-segment double S-shaped curve. As Figure 5 shown, the device 500 includes a second determination module 510, a third determination module 520, and an output module 530. It should be noted that since the following embodiments are to implement the foregoing method embodiments, each module in the device 500 is provided to implement each step of the method in the foregoing embodiments. Therefore, the present invention is not limited to the following embodiments, and any module that can implement the above method should be included within the protection scope of the present invention.

[0042] Specifically, the second determination module 510 is configured to determine the ideal maximum speed V3 of the motion process of the conveyor belt according to the speed determination method in the foregoing embodiments; the third determination module 520 is configured to use a preset position interpolation algorithm to determine the conveyor belt according to the preset total displacement S, the acceleration a in the constant acceleration stage, the jerk J in the jerk acceleration stage, and the determined ideal maximum speed V3 of the motion process of the conveyor belt. The real-time speed during the motion; the output module 530 is configured to output the real-time speed of the conveyor belt during the motion to the conveyor belt device to control the operation of the motor 630 in the conveyor belt device. It should be noted that since the second determination module 510 determines the ideal maximum speed V3 of the motion process of the conveyor belt according to the speed determination method in the foregoing embodiments, the relevant technical details mentioned in the speed determination method in the foregoing embodiments are applicable to the motion control device 500 of the conveyor belt device in this embodiment. To avoid repetition, they will not be elaborated here.

[0043] Turn to Figure 6 which shows a structural diagram of a motion control system 600 for a conveyor belt device. As Figure 6As shown, system 600 includes a controller 610, a drive controller 620, and a motor 630. Specifically, the controller 610 is configured to output the real-time speed of the conveyor belt during movement according to the movement control method of the conveyor belt device in the foregoing embodiment; the drive controller 620 is configured to receive the real-time speed of the conveyor belt output by the controller 610, convert the real-time speed into a motor 630 drive parameter, and output the motor 630 drive parameter; the motor 630 is configured to receive the motor 630 drive parameter output by the drive controller 620 and perform operations based on the received motor 630 drive parameter. It should be noted that since the controller 610 outputs the real-time speed of the conveyor belt during movement according to the movement control method of the conveyor belt device in the foregoing embodiment, the relevant technical details mentioned in the movement control method of the conveyor belt device in the foregoing embodiment are all applicable to the movement control system 600 of the conveyor belt device in this embodiment. To avoid repetition, they will not be elaborated here.

[0044] Figure 7 is a schematic diagram of an electronic device according to an embodiment of the present application. The specific embodiments of the present application do not limit the specific implementation of the electronic device. Refer to Figure 7 , the electronic device 700 provided by the embodiment of the present application includes: a processor 602, a communications interface 604, a memory 606, and a bus 708. Among them:

[0045] The processor 702, the communications interface 704, and the memory 706 communicate with each other through the bus 708.

[0046] The communications interface 704 is used to communicate with other electronic devices or servers.

[0047] The processor 702 is used to execute the program 710, and specifically can execute the relevant steps in the foregoing method embodiments.

[0048] Specifically, the program 710 may include program code, and the program code includes computer operation instructions.

[0049] The processor 702 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the intelligent device may be of the same type of processor, such as one or more CPUs; or they may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0050] A memory 706 for storing a program 710. The memory 706 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0051] The program 710 may specifically be used to cause the processor 702 to execute the methods in any of the foregoing embodiments.

[0052] For the specific implementation of each step in the program 710, reference may be made to the corresponding steps and descriptions in the units in the foregoing method embodiments, which will not be elaborated herein. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the devices and modules described above may refer to the corresponding process descriptions in the foregoing method embodiments, which will not be repeated herein.

[0053] The present application also provides a computer-readable storage medium storing instructions for causing a machine to execute the methods described herein. Specifically, a system or device equipped with a storage medium may be provided, on which software program code for implementing the functions in any of the foregoing embodiments is stored, and the computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.

[0054] In this case, the program code read from the storage medium itself can implement the functions in any of the foregoing embodiments. Therefore, the program code and the storage medium storing the program code constitute a part of the present application.

[0055] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code may be downloaded from a server computer via a communication network.

[0056] The embodiments of the present application also provide a computer program product including computer instructions that direct a computing device to perform any corresponding operations in the foregoing multiple method embodiments.

[0057] It should be noted that, according to the needs of implementation, the various components / steps described in the embodiments of the present application may be split into more components / steps, or two or more components / steps or partial operations of components / steps may be combined into new components / steps to achieve the objectives of the embodiments of the present application.

[0058] The method according to the embodiments of the present application can be implemented in hardware, firmware, or be implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or be implemented as computer code that is originally stored in a remote recording medium or a non-transitory machine-readable medium and downloaded through a network and will be stored in a local recording medium, so that the method described herein can be stored on such a software process on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component (such as a RAM, a ROM, a flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method shown herein.

[0059] It should be noted that not all steps and modules in the above-mentioned various processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted according to needs. The system structure described in the above-mentioned various embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented separately by multiple physical entities, or some components in multiple independent devices can be jointly implemented.

[0060] In the present patent application, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one" does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0061] In the above-mentioned various embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include a permanent dedicated circuit or logic (such as a dedicated processor 702, an FPGA or an ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or a circuit (such as a general-purpose processor 702 or other programmable processors 702), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0062] The above has shown and described the present application in detail through the accompanying drawings and preferred embodiments. However, the present application is not limited to these disclosed embodiments. Based on the above-mentioned multiple embodiments, those skilled in the art can know that the code review means in the above different embodiments can be combined to obtain more embodiments of the present application, and these embodiments are also within the protection scope of the present application.

Claims

1. A speed determination method, applied to the motion control of a conveyor belt device, characterized in that, The operating characteristics of the conveyor belt in the conveyor belt equipment conform to the motion description of a seven-segment double S-shaped curve. The method includes: A Obtaining the total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage corresponding to the motion process of the conveyor belt; B Determining the ideal maximum speed V3 of the motion process of the conveyor belt according to the total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage.

2. The method according to claim 1, wherein Step B further includes: Using the first formula, determine the ideal maximum speed V3 of the movement process of the conveyor belt according to the preset total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage; wherein, the first formula is:

3. The method according to claim 2, wherein The method further includes: Obtaining the preset total displacement S, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage; Determining the total time T according to the preset maximum feeding beat.

4. The method according to claim 2, characterized in that, Before step B, it further includes: According to the total time \(T\) corresponding to the movement process of the conveyor belt, the acceleration \(a\) in the uniform acceleration stage, the jerk \(J\) in the jerk acceleration stage, and the maximum allowable speed \(V\) of the conveyor belt max , calculate the maximum allowable total displacement \(S\) of the conveyor belt max ; Compare the calculated maximum total displacement S of the conveyor belt max with the preset total displacement S; If the preset total displacement S is less than the maximum allowable total displacement S max , then step A is executed afterwards; If the preset total displacement S is not less than the maximum total displacement S of the limit max , a prompt message indicating that the total displacement S and the maximum feeding cycle of this recipe setting cannot be supported will be output.

5. The method according to claim 2, wherein Before step B, it further includes: Compare the total time T corresponding to the movement process of the conveyor belt with where a and J are the acceleration and jerk of the uniformly accelerating stage corresponding to the movement process of the conveyor belt, respectively; If the total time T is greater than then step A is executed afterwards; If the total time T is not greater than then the speed of the conveyor belt corresponding to the rated speed of the motor (630) in the conveyor belt device is determined as the ideal maximum speed V3 of the conveyor belt during the movement process.

6. A motion control method for a conveyor belt device, characterized in that, It includes: Determining the ideal maximum speed V3 of the motion process of the conveyor belt according to the speed determination method described in any one of claims 1-5; Using a preset position interpolation algorithm, determining the real-time speed of the conveyor belt during the motion process according to the preset total displacement S, acceleration a in the uniform acceleration stage, jerk J in the jerk acceleration stage, and the determined ideal maximum speed V3 of the motion process of the conveyor belt; Outputting the real-time speed of the conveyor belt during the motion process to the conveyor belt equipment to control the operation of the motor (630) in the conveyor belt equipment.

7. A speed determination device (300), applied to the motion control of a conveyor belt device, characterized in that, The motion process of the conveyor belt in the conveyor belt equipment adopts a seven-segment double S-shaped curve. The device includes: An obtaining module (310) for obtaining the total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage corresponding to the motion process of the conveyor belt; A first determination module (320) for determining the ideal maximum speed V3 of the motion process of the conveyor belt according to the total displacement S, total time T, acceleration a in the uniform acceleration stage, and jerk J in the jerk acceleration stage.

8. A motion control device (500) for a conveyor belt device, characterized in that, It includes: A second determination module (510) for determining the ideal maximum speed V3 of the motion process of the conveyor belt according to the speed determination method described in any one of claims 1-5; A third determination module (520) for using a preset position interpolation algorithm to determine the real-time speed of the conveyor belt during the motion process according to the preset total displacement S, acceleration a in the uniform acceleration stage, jerk J in the jerk acceleration stage, and the determined ideal maximum speed V3 of the motion process of the conveyor belt; An output module (530) for outputting the real-time speed of the conveyor belt during the motion process to the conveyor belt equipment to control the operation of the motor (630) in the conveyor belt equipment.

9. A motion control system (600) for a conveyor belt device, characterized in that, It includes: A controller (610) configured to output the real-time speed of the conveyor belt during the motion process according to the motion control method of the conveyor belt equipment described in claim 6; A drive controller (620) configured to receive the real-time speed of the conveyor belt during the motion process output by the controller (610), convert the real-time speed into motor (630) drive parameters, and output the motor (630) drive parameters; The electric machine (630) is configured to receive the electric machine (630) drive parameters output by the drive controller (620) and perform operations based on the received electric machine (630) drive parameters.

10. An electronic device (700), the electronic device (700) comprising: A processor (702), a communication interface (704), a memory (706) and a bus (708), wherein the processor (702), the communication interface (704) and the memory (706) communicate with each other through the bus (708); The memory (706) is used to store at least one executable instruction, and the executable instruction causes the processor (702) to perform the operations corresponding to the method according to any one of claims 1-6.

11. A determination machine-readable storage medium, on which determination machine instructions are stored, and when the determination machine instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1-6.

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