Compressor vacuumizing synchronous movement control method and device

Abstract

The invention relates to the technical field of automatic control, discloses a synchronous movement control method and device for vacuumizing of a compressor, and aims to solve the problems of low synchronization precision and high safety risk caused by factors such as initial mounting stress and speed fluctuation of a conveying belt during flexible connection operation with a moving workpiece. The method comprises the following steps: physically connecting a flexible pipeline of a vacuumizing pump mounted on a synchronous moving platform with a compressor interface of a refrigerator moving on a conveying belt; by executing detective displacement and collecting position and tension data, an optimal position point with the minimum theoretical tension is dynamically calibrated as a digital anchor point, and the reference tension corresponding to the digital anchor point is determined. The invention further provides a device for executing the method. The initial installation stress is eliminated through dynamic calibration, dynamic disturbance can be accurately compensated through double closed-loop feedback of the position and tension, and the precision, reliability and safety of synchronous operation are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation control, in particular to a compressor vacuum synchronous movement control method and device. BACKGROUND

[0002] In modern automated production lines, especially in the assembly lines of large products such as home appliances and automobiles, a continuous moving conveyor belt or a hanging chain system is commonly used to transport workpieces. In order to improve production efficiency, many process steps, such as tightening, gluing, detection or the refrigeration system vacuuming involved in this article, need to be completed during the continuous movement of the workpiece without stopping.

[0003] To achieve this "dynamic operation" or "on-the-go operation", a work unit or robot that can move parallel to the conveyor belt is usually deployed. The core technology is to ensure the accurate relative positional relationship between the work unit and the moving workpiece, that is, synchronous control. In the prior art, a common synchronization method is based on an encoder or a vision system. By obtaining the speed information of the conveyor belt or directly tracking the visual markers on the workpiece, the controller can drive the work unit to follow the speed or position.

[0004] However, when the work unit and the workpiece need to be connected through flexible pipelines, cables and other physical media, the above control scheme relying only on position information exposes its limitations. Since the initial connection position of the flexible pipeline during manual installation or mechanical docking is almost impossible to be exactly the natural unstressed state of the pipeline, this leads to an unobservable and persistent initial tensile or compressive stress introduced into the system before synchronization begins.

[0005] During the subsequent synchronization process, this initial stress continuously affects the stability of the control system. More critically, closed-loop control based only on position cannot directly perceive and compensate for the elastic deformation, vibration or physical stress fluctuations of the flexible pipeline itself caused by factors such as slight slippage of the conveyor belt, workpiece shaking, etc. Even if the controller maintains perfect relative position visually, the flexible pipeline may be under gradually accumulating or fluctuating tension. This unmanaged physical tension not only reduces the stability of the process, but in extreme cases such as accidental docking or sudden speed changes, it can also cause the flexible pipeline to be overstretched and damaged, and even cause equipment downtime, thereby directly threatening the safety and reliability of production. SUMMARY

[0006] In view of the deficiencies of the prior art, the present application provides a compressor vacuum synchronous movement control method and device, which solves the problem of low synchronization accuracy and uncontrollable physical stress caused by initial installation stress and dynamic disturbance when performing flexible connection operation with a moving workpiece.

[0007] To achieve the above object, the present application is implemented by the following technical solutions:

[0008] The first aspect of the present application provides a compressor vacuum synchronization movement control method, which is applied to synchronous operation with a refrigerator on a conveying belt. The method comprises:

[0009] Step one, physically connect the flexible pipeline of a vacuum pump installed on a synchronous movement platform with the compressor interface of the refrigerator.

[0010] Step two, dynamically calibrate a digital anchor point and a reference tension for subsequent synchronous control based on the physical properties of the flexible pipeline.

[0011] In a specific embodiment, the execution mode of this step is as follows: after completing the physical connection of step one, control the synchronous movement platform to perform a preset exploratory displacement. During the exploratory displacement, the flexible pipeline tension value corresponding to the position of the synchronous movement platform is synchronously collected at a high frequency through the space perception module and the tension sensing module, thereby obtaining a data point set containing multiple position coordinates and corresponding tension values. Subsequently, based on the data point set, a function model T=f(x,y) describing the correspondence between tension and position is established. By solving the minimum value of the function model, the optimal position point P opt with the minimum theoretical tension is calculated. The mathematical expression is as follows:

[0012]

[0013] Where f(x,y) is the function model of the tension and position, and P opt is the calculated optimal position point.

[0014] Finally, the optimal position point P opt is determined as the digital anchor point P0, and the theoretical minimum tension value f(P0) corresponding to the optimal position point is determined as the reference tension T0.

[0015] Step three, during the movement of the refrigerator along the conveying belt, the position feedback based on the digital anchor point and the tension feedback based on the reference tension are fused in the control process of synchronous movement.

[0016] In a specific embodiment, the final speed instruction V

[0017] V cmd (t) sent to the synchronous movement platform is composed of three parts in linear superposition. The mathematical expression is as follows:

[0018] V cmd (t) = V ff + ΔV vis (t) + ΔVten (t);

[0019] wherein:

[0020] V ff is a feedforward speed command corresponding to the set speed of the conveyor belt; ΔV vis (t) is a vision speed correction quantity, which is generated by continuously tracking a vision marker on the refrigerator by the spatial perception module to obtain its real-time position P t , and calculating the position error vector E pos (t) = P t -P0, and then generating a closed-loop control adjustment according to the position error vector;

[0021] ΔV ten (t) is a tension speed correction quantity, which is generated by continuously measuring the real-time tension T t of the flexible pipeline by the tension sensor module, and calculating the tension error E ten (t) = T t -T0, and then generating a closed-loop control adjustment according to the tension error.

[0022] Further, the method can further include a safety protection step, wherein during the execution of step three, if it is detected that the real-time tension of the flexible pipeline exceeds a preset safety threshold, the controller outputs an instruction to immediately stop the movement of the synchronous movement platform.

[0023] Further, in order to ensure the effectiveness of the calibration process, the exploratory displacement can be set as a small trajectory movement in a two-dimensional plane centered on the current physical connection point.

[0024] Further, in order to ensure the continuity of the process, after step one is completed and before step two begins, the vacuum pump can begin to perform a vacuuming operation on the compressor.

[0025] Compared with the prior art, the technical solution provided by the present application has the following beneficial effects:

[0026] By performing a dynamic calibration step based on tension feedback, the method can determine an accurate spatial coordinate representing the stress-free state of the flexible pipeline as a control reference, i.e., the digital anchor point. This effectively eliminates the initial stress error introduced by the initial installation position error or individual differences of the pipeline.

[0027] In the synchronous control process, by fusing the visual-based position feedback and the physical-based tension feedback, the method can compensate for the macroscopic position deviation and the microscopic stress fluctuation, thereby more stably maintaining the relative spatial relationship between the work unit and the workpiece when the conveying belt speed changes or other disturbances exist.

[0028] The second aspect of the present application provides a compressor vacuum synchronous movement control device for performing the compressor vacuum synchronous movement control method described in any of the preceding embodiments. The device comprises: a synchronous movement platform arranged on a conveying track and movable along the track;

[0029] A vacuum pump is installed on the synchronous movement platform and has a flexible pipeline for connecting the compressor of the refrigerator;

[0030] A space perception module is installed on the synchronous movement platform, and its function is to obtain the visual position information of the refrigerator;

[0031] A tension sensing module measures the real-time tension of the flexible pipeline;

[0032] A cooperative controller is electrically connected to the synchronous movement platform, the space perception module, and the tension sensing module. The cooperative controller internally stores program instructions that, when executed, enable the cooperative controller to perform the steps in the method described in the first aspect of the present application.

[0033] The present application provides a compressor vacuum synchronous movement control method and device. The following beneficial effects are provided:

[0034] 1. The present application can effectively eliminate the initial installation position deviation caused by manual physical connection or the inherent stress introduced by individual differences of different flexible pipelines by performing a dynamic calibration step before the start of synchronous control, i.e., actively finding and setting the "digital anchor point" and "reference tension" representing the stress-free state of the flexible pipeline. This provides a precise control target calibrated by physical world feedback for subsequent closed-loop control, thereby improving the initial accuracy of control.

[0035] 2. In the synchronous control process, the visual-based position feedback and the physical-based tension feedback are fused to form a composite control structure. The visual feedback is mainly used to correct the macroscopic position deviation caused by factors such as conveying belt slipping, while the tension feedback is used to compensate for the microscopic physical stress fluctuation caused by the elastic deformation of the pipeline itself. The synergistic effect of this multi-dimensional information enables the system to more stably maintain the relative spatial relationship between the work unit and the workpiece when dealing with complex dynamic disturbances.

[0036] 3、The present application sets a safety threshold by taking the real-time tension of the flexible pipeline as a key closed-loop control variable, which not only actively maintains the pipeline in a low-stress working state at the control level, but also establishes a direct physical safety protection mechanism. This can effectively prevent the pipeline from being stretched or damaged due to accidental hanging or excessive speed difference, thereby reducing the risk of equipment failure and improving the reliability and safety of the entire automated operation process. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is the overall diagram of the device of the present application;

[0038] Figure 2 It is the schematic diagram of the compressor part structure of the present application;

[0039] Figure 3 It is the schematic diagram of the method flow of the present application.

[0040] Among them, 1, conveying belt; 2, refrigerator; 3, conveying track; 4, vacuum pump; 5, condenser; 6, compressor. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the specification of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0042] Referring to the drawings Figure 1 , the drawings Figure 1 It is the schematic diagram of the structure of the compressor vacuum pumping synchronous movement control system according to an embodiment of the present application. The system is applied to an automated production line, and the purpose is to make a working unit keep precise synchronous movement with the moving refrigerator 2 on the conveying belt 1 to perform the vacuum pumping operation.

[0043] The system includes a conveying belt 1 arranged along its movement direction, used to carry and convey the refrigerator 2 to be processed. On one side of the conveying belt 1, a conveying track 3 is arranged in parallel. A synchronous movement platform is installed on the conveying track 3 and can be driven by the servo motor inside to perform precise linear displacement along the direction of the conveying track 3.

[0044] A vacuum pump 4, including a vacuum pump and its control valve group, is fixedly installed on the synchronous movement platform. The vacuum pump 4 draws out a flexible pipeline with a predetermined length and elasticity, and the end joint of the pipeline is used for physical connection with the compressor 6 vacuum pumping interface on the refrigerator 2.

[0045] To realize the control method of the application, the system also integrates the following functional modules: a space perception module (a), a tension sensing module (b), and a collaborative controller (c). The space perception module (a) (for example, an industrial camera) is installed on the synchronous moving platform, and its field of view covers the preset visual marker area on the refrigerator 20. The tension sensing module (b) (for example, a tensile and compressive force sensor) is integrated on the support structure of the flexible pipeline, for real-time measurement of the physical tension on the pipeline.

[0046] The collaborative controller (c) is the control core of the entire system, which has electrical connection and data communication link with the servo driver of the synchronous moving platform, the space perception module (a), the tension sensing module (b), and the main controller of the production line. The collaborative controller (c) internally stores program instructions for executing the following detailed synchronous moving control method.

[0047] Referring to the accompanying drawings Figure 3 , the compressor vacuumizing synchronous moving control method provided by the embodiment of the application can include the following steps:

[0048] S101, a connection step is performed. When a refrigerator 2 is transported by the conveyor belt 1 to the designated work area, the collaborative controller (c) is triggered by an external sensor to instruct the synchronous moving platform to move to a preset docking preparation point. Then, the flexible pipeline of the vacuum pump 4 is physically connected to the compressor 60 on the refrigerator 20 through manual or automatic mechanical hand.

[0049] S102, a calibration step is performed. The goal of this step is to dynamically calibrate a digital anchor point and a reference tension for subsequent closed-loop control based on the physical characteristics of the flexible pipeline. After completing the physical connection of S101, the collaborative controller (c) drives the synchronous moving platform to perform a preset small-range exploratory displacement, such as a cross-shaped or spiral-shaped motion trajectory, centered on the current position.

[0050] During this exploratory displacement, the collaborative controller (c) synchronously and high-frequency acquires two sets of data: the real-time position coordinates (x, y) of the visual marker in the camera coordinate system output by the space perception module (a), and the real-time tension value T synchronized with the position output by the tension sensing module (b). Through this process, a data set {(x i ,y i ,T i )} containing multiple data points is obtained.

[0051] The cooperative controller (c) uses the data set to perform a surface fitting by mathematical methods such as least square method to establish a local function model T = f(x, y) describing the relationship between tension and position. Subsequently, the optimal position point P opt with theoretically minimum tension is determined by solving the minimum value of the function. The solving process can be expressed as:

[0052]

[0053] where f(x, y) is the established tension-position function model, P opt is the coordinate of the solved optimal position point, (x opt , y opt ) are the specific components of the coordinate.

[0054] Finally, the cooperative controller (c) sets the solved optimal position point P opt as the digital anchor point P0 of this synchronization task, and sets the theoretical minimum tension value f(P0) corresponding to the point as the reference tension T0. The two values are stored as the control reference of the next step.

[0055] S103, execute the synchronization control step. After the refrigerator 2 starts moving along the conveying belt 1, the cooperative controller (c) continuously calculates and sends a final speed instruction V cmd (t) to the servo driver of the synchronization moving platform to drive the platform to move synchronously. The instruction is linearly superimposed by three parts, which are composed as follows:

[0056] V cmd (t) = V ff + ΔV vis (t) + ΔV ten (t);

[0057] Where:

[0058] V cmd (t) is the final speed instruction sent to the servo driver at time t. V ff is the feedforward speed instruction, which is obtained by the cooperative controller (c) from the main drive system of the conveying belt 1, corresponding to the theoretically set speed of the conveying belt.

[0059] ΔV vis (t) is the visual speed correction amount. Its generation method is: the spatial perception module (a) continuously tracks the real-time position P t of the visual marker, and the cooperative controller (c) calculates the position error vector E pos (t) = P tP0. This error vector is input into a PID (Proportional-Integral-Derivative) controller, and the output is ΔV vis (t).

[0060] ΔV ten (t) is the tension velocity correction. It is generated by the following way: the tension sensor module (b) continuously measures the real-time tension T t of the flexible pipe, and the controller (c) calculates the tension error E ten (t) = T t - T0. This error is input into another independent PID controller, and the output is ΔV ten (t).

[0061] S104, end and reset. When the vacuuming process reaches the preset duration or receives an external end signal, the controller (c) stops sending the velocity command, and the synchronous moving platform stops moving. The flexible pipe and the compressor 6 interface are separated, and then the synchronous moving platform is instructed to return to its initial standby position, in preparation for the next working cycle.

[0062] Referring to the accompanying Figure 3 is a flow chart of the compressor vacuuming synchronous moving control method according to an embodiment of the present application. The method is executed by the controller (c), which internally stores program instructions for implementing the method. The method can be specifically divided into the following steps:

[0063] S201, execute the initial docking step. When a refrigerator 2 moves to the predetermined processing station along the conveyor belt 1, an external sensor (such as a photoelectric switch) sends a trigger signal to the controller (c). After receiving the signal, the controller (c) queries the pre-stored docking preparation point coordinates and instructs the synchronous moving platform to move to the position. Then, the end joint of the flexible pipe of the vacuum pump 4 is physically connected with the compressor 6 interface on the refrigerator 2. In a specific embodiment, to optimize the production rhythm, after the physical connection in step S201 is completed, the controller (c) can instruct the vacuum pump 4 to start and begin the vacuuming operation on the compressor 6 before the next step S202 begins.

[0064] S202, execute the digital anchor dynamic calibration step. This step is executed after the physical connection is established and before the synchronous moving begins. The controller (c) controls the synchronous moving platform to perform a pre-set, small-range exploratory displacement centered on the current physical connection point. The trajectory of the displacement is designed to be able to fully explore the tension response of the flexible pipe in different poses in a two-dimensional plane, such as a cross-shaped, circular or spiral motion trajectory.

[0065] Throughout this probing displacement, the cooperative controller (c) synchronously records the real-time position coordinates (x, y, x) of the visual markers provided by the spatial perception module (a) at a set high sampling frequency. i ,y i The coordinates are: ), and the real-time tension value T provided by the tension sensing module (b), which corresponds precisely to the timestamp of that coordinate. i After the data acquisition is completed, the collaborative controller (c) uses the acquired data point set to establish a local function model T = f(x,y) describing the relationship between tension T and position (x,y) through a surface fitting algorithm (e.g., least squares method).

[0066] Subsequently, by solving for the minimum value of the function model, the theoretically optimal location point P with the minimum tension is determined. opt Finally, the cooperative controller (c) calculates the optimal location point P. opt The coordinate values ​​are stored as the digital anchor point P0 for this task, and the theoretical minimum tension value f(P0) corresponding to this point is stored as the reference tension T0. These two values ​​will serve as the absolute target reference for closed-loop control in the next step.

[0067] S203, execute the composite cooperative synchronization control step. This step is activated when conveyor belt 1 starts and moves the refrigerator 2. The cooperative controller (c) enters a high-speed closed-loop control state. In each control cycle, it integrates multi-source information, generates and sends a final speed command to the synchronous moving platform. This command consists of a linear superposition of the feedforward speed command, the visual speed correction, and the tension speed correction.

[0068] The feedforward speed command is a basic speed component, the value of which comes from the theoretical set speed of conveyor belt 1, and is used to pre-compensate for most of the displacement caused by the movement of the conveyor belt. The visual speed correction is used to compensate for macroscopic position deviations. Its generation process is as follows: the spatial perception module (a) continuously tracks the real-time position of the visual marker, the cooperative controller (c) calculates the position error vector between it and the digital anchor point, and this error vector is sent to a PID controller, the output of which is the visual speed correction.

[0069] The tension velocity correction is used to compensate for microscopic physical stress. Its generation process is as follows: the tension sensing module (b) continuously measures the real-time tension; the co-controller (c) calculates the scalar error between this real-time tension and the reference tension; this error is fed into another independent PID controller, whose output is the tension velocity.

[0070] correction amount. Throughout the execution of this step, the cooperative controller (c) also performs a safety monitoring task in parallel. It continuously compares the measured real-time tension with a preset safety threshold. If the real-time tension exceeds the safety threshold, the highest priority protection mechanism is triggered, the cooperative controller (c) immediately zeros the speed command and instructs the synchronized mobile platform to emergency stop to prevent physical damage to the flexible pipe or equipment.

[0071] S204, execution of the task end and reset step. When the vacuuming process timing ends or an external completion signal is received, the cooperative controller (c) stops the synchronized control loop. The flexible pipe and the compressor 6 interface are separated. Finally, the cooperative controller (c) instructs the synchronized mobile platform to return to its initial standby position along the conveying track 3, completes a complete working cycle and waits for the next task instruction.

[0072] Referring to the accompanying drawings Figure 3 , the accompanying drawings Figure 3 is a schematic diagram of each functional stage in the compressor vacuuming synchronized mobile control method according to an embodiment of the present application. The method described in the embodiment of the present application can include the following steps in its detailed execution process:

[0073] S301, system initialization and physical interface establishment. At the beginning of a working cycle, the cooperative controller (c) is in a standby state. When the external sensor detects that the conveying belt 1 carrying the refrigerator 2 enters the predetermined working area and triggers the signal, the cooperative controller (c) is activated. The controller first instructs the synchronized mobile platform to move to a preset, operationally convenient docking preparation point, which can ensure that the flexible pipe of the vacuuming pump 4 can be aligned with the compressor 6 interface of the refrigerator 2. At this position, the flexible pipe and the compressor 6 interface complete the physical connection and establish a physical channel for the vacuuming operation.

[0074] S302, self-calibration of digital anchor point and reference tension. After completing the physical connection, the cooperative controller (c) executes a preset calibration program. The program drives the synchronized mobile platform to perform a trajectory motion, which is strictly limited within a preset local detection area centered on the current connection point.

[0075] Here, the "local detection area" is not a vague concept, but a specific two-dimensional spatial range determined in advance through offline testing or online adaptive calculation according to the following two technical constraints:

[0076] Constraint 1: The lower bound of data validity. The amplitude of the exploratory displacement must be large enough to cause the tension sensor module (b) to produce a significant and repeatable change in reading, which should be significantly higher than the measurement noise of the sensor. If the displacement is too small, all the collected tension data will be highly similar and cannot effectively fit a tension-position relationship surface with a significant valley feature, thus cannot solve a meaningful optimal position point. For example, a "minimum valid tension change" can be set, such as 2 Newtons, and the range of the exploration region must ensure that the tension values of its boundary points are greater than the central point by more than this threshold.

[0077] Constraint 2: The upper bound of device safety. The amplitude of the exploratory displacement must never cause the tension on the flexible tube to exceed its pre-set safety threshold (e.g. a safety factor reduction of the yield strength of the tube material or the designed load capacity of the joint). This is to prevent potential physical damage to the device during the calibration process.

[0078] An example of the determination of this region:

[0079] Suppose the safety tension threshold of the flexible tube used in this embodiment is set to 50 Newtons. Through experiments, it is found that in order to obtain effective surface fitting data, the tension change needs to reach at least 5 Newtons. Through offline calibration tests, the engineer finds that when the synchronous movement platform moves 50 mm in the positive and negative directions of the connection point center along the movement direction, the tension reading rises from 8 Newtons when no additional displacement is applied to about 15 Newtons. This tension is far below the safety threshold of 50 Newtons, and the change of 7 Newtons is also far higher than the validity threshold of 5 Newtons. Therefore, the "local exploration region" for this task can be set to a linear interval of 100 mm in length or a square region of 100 mm x 100 mm centered on the connection point.

[0080] In the above manner, the original vague "small" concept is transformed into a quantifiable technical parameter defined by two dimensions of data validity and physical safety, thereby ensuring the scientificity and reliability of the calibration process.

[0081] Perform self-calibration of digital anchor points and reference tension. This step is to establish a stress-free control reference for subsequent precise synchronous control. After physical connection is completed, the collaborative controller (c) performs a pre-set calibration program. The program drives the synchronous movement platform to perform a small range, multi-directional exploratory displacement. During this displacement process, the spatial perception module (a) and the tension sensor module (b) are instructed to continuously collect and generate a data point set with synchronized timestamps, where each data point contains the position coordinates (x i ,y i) and the corresponding real-time tension value T i .

[0082] After receiving the complete data point set, the collaborative controller (c) uses numerical analysis methods, such as polynomial surface fitting based on the least squares method, to establish a function model T = f(x,y) that describes the tension and position relationship within the local space. This function model objectively reflects the physical characteristics of the flexible pipeline in this region. Subsequently, the controller differentiates this function model or uses other numerical optimization algorithms to calculate the optimal position coordinates (x,y) that minimize the function value f(x,y). opt ,y opt This coordinate point is defined as the unique digital anchor point P0 for this mission, and its corresponding theoretical minimum tension f(P0) is defined as the reference tension T0.

[0083] S303 executes composite cooperative synchronous control. When conveyor belt 1 starts moving the freezer 2, the cooperative controller (c) enters high-speed closed-loop control mode. Within each control cycle, the controller performs the following operations to generate and output the final speed command V. cmd (t): First, the theoretical set speed of conveyor belt 1 is obtained from its drive system and used as the feedforward speed command V. ff This instruction is used to counteract most of the following motion. Secondly, the real-time position P of the visual marker is obtained through the spatial perception module (a). t And calculate the position error vector E between it and the calibrated digital anchor point P0. pos (t). This error vector is input to a vision PID controller to generate a vision velocity correction ΔV. vis (t). The calculation of this correction amount can be expressed as:

[0084]

[0085] Among them, K p,vis ,K i,vis, K d,vis These are the proportional, integral, and differential gain coefficients of the visual position loop, respectively.

[0086] Next, the real-time tension T of the flexible pipeline is obtained through the tension sensing module (b). t And calculate the tension error E between it and the calibrated reference tension T0. ten (t). This error is input to another independent tension PID controller, generating the tension speed correction ΔV. ten (t). The calculation of this correction amount can be expressed as:

[0087]

[0088] Among them, Kp,ten′ K i,ten′ K d,ten are the gain coefficients of the tension feedback loop respectively. Finally, the cooperative controller (c) linearly superimposes the above three velocity components to obtain the final velocity command V cmd (t) = V ff + ΔV vis (t) + ΔV ten (t) and sends it to the servo drives of the synchronized moving platform for execution.

[0089] S303, execute the compound cooperative synchronization control. When the conveyor belt 1 starts to move with the refrigerator 2, the cooperative controller (c) enters the high-speed closed-loop control mode. In each control cycle, the controller performs a series of operations to generate and output the final velocity command V cmd (t). In a specific embodiment, the final velocity command is composed of the feedforward velocity command, the visual velocity correction, and the tension velocity correction, by weighted linear superposition. This logical relationship can be represented by the following formula:

[0090] V cmd (t) = W ff · V ff + W vis · ΔV vis (t) + W ten · ΔV ten (t);

[0091] Where: W ff , W vis , W ten are the weight coefficients preset for the feedforward, visual feedback, and tension feedback channels respectively. These coefficients are dimensionless scalars, and their sum does not necessarily equal 1. They collectively determine the contribution of each control component in the generation of the final command. The following will illustrate how each component and its weight are determined:

[0092] V ff is a basic compensation quantity, which aims to pre-compensate for the main movement of the conveyor belt 1.

[0093] Determination method: the cooperative controller (c) directly obtains the theoretical set speed of the conveyor belt by communicating with the main controller of the production line or the servo drive of the conveyor belt 1 (for example, through the industrial Ethernet protocol).

[0094] Illustration: in a production batch, if the theoretical set speed of the conveyor belt 1 is set to 0.15 meters / second, the cooperative controller (c) will obtain this value and set V ff = 0.15 meters / second.

[0095] Weight W ffDetermination of the weight W ff is usually set to 1 to ensure that the base speed of the moving platform is exactly consistent with the theoretical speed of the conveyor belt. In some specific processes that require lead or lag compensation, the value can also be set to a number slightly greater or less than 1.

[0096] Determination of the visual speed correction amount AV vis (t) and its weight W vis :

[0097] AV vis (t) is a dynamic micro-adjustment based on position error, aiming to correct the macro position deviation caused by conveyor belt slip, workpiece swing, etc.

[0098] Determination method: The value is calculated by a visual PID controller according to the real-time position error E pos (t).

[0099] Example: Suppose the calibrated digital anchor point P0 has coordinates (200.0, 150.0) pixels in the camera coordinate system. At time t, the spatial perception module (a) detects the real-time position P t of the visual marker as (201.2, 150.0) pixels. At this time, the position error E pos (t) in the direction of motion is +1.2 pixels. If the proportional gain K p,vis of the visual position loop is set to 0.005 (m / s) / pixel, then considering only the proportional link, the generated visual speed correction amount AV vis (t) ≈ K p,vis ·E pos (t) = 0.005 x 1.2 = 0.006 m / s.

[0100] Determination of the weight W vis : The weight reflects the response sensitivity of the system to visual deviation. In a typical embodiment, if the visual system is stable and reliable, a higher weight can be set, for example W vis = 0.9, to prioritize accurate geometric position alignment.

[0101] Determination of the tension speed correction amount AV ten (t) and its weight W ten :

[0102] AV ten (t) is a fine micro-adjustment based on physical stress error, aiming to eliminate or suppress the physical stress inside the flexible pipe as a supplement to visual correction.

[0103] Determination method: This value is determined by another independent tension PID controller based on the real-time tension error E. ten (t) is calculated.

[0104] For example: Assume the calibrated reference tension T0 is 8.0 Newtons. At time t, the tension sensing module (b) measures the real-time tension T. t It is 8.5 Newtons. At this point, the tension error E ten (t)=T t -T0 = +0.5 Newtons. If the proportional gain K of the tension feedback loop... p,ten If set to 0.001 (m / s) / Newton, then only the proportional element is considered, and the resulting tension velocity correction ΔV ten (t)≈K p,ten ·E ten (t) = 0.001 × 0.5 = 0.0005 m / s.

[0105] Weight W ten Determination of the weight: This weight reflects the system's sensitivity to stress changes. Its setting needs to balance factors such as pipeline rigidity and process requirements. For example, for highly rigid pipelines, even a small positional deviation can cause a significant tension change; in this case, its weight can be appropriately increased. In one embodiment, W can be set... ten =0.4, which provides a smooth and effective stress relief adjustment based on visual correction.

[0106] In summary, at time t in the example above, the final speed command calculated by the cooperative controller (c) is:

[0107] V cmd (t)=(1×0.15)+(0.9×0.006)+(0.4×0.0005)=0.15+0.0054+0.0002=0.1;

[0108] This instruction is sent to the servo driver of the synchronous mobile platform for execution. This is achieved by adjusting the weighting coefficient W. vis and W ten With adjustments, those skilled in the art can flexibly balance the relationship between position tracking accuracy and stress control based on actual working conditions (such as visual signal quality, pipeline physical characteristics, etc.).

[0109] S304, termination of the task and system reset. During the synchronization control execution, when the preset vacuuming process timing ends, the cooperative controller (c) stops the control cycle. At this time, the flexible pipeline of the vacuum pump 4 is separated from the compressor 6. Then, the cooperative controller (c) instructs the synchronization moving platform to return to its initial standby position, and the entire system is reset, ready for the next refrigerator 2, thus completing a complete working cycle. During the entire S303 step, if the real-time tension detected by the tension sensing module (b) exceeds the preset safety threshold, an interruption is triggered, and the device stop and reset process in S304 is forced to execute.

[0110] While the embodiments of the application have been illustrated and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the application, which is defined by the appended claims and their equivalents.

Claims

1. A compressor vacuuming synchronous movement control method, applied to synchronized operation with a refrigerator (2) on a conveyor belt (1), characterized in that, Includes the following steps: Step 1: Connect the flexible pipeline of the vacuum pump (4) installed on the synchronous moving platform to the compressor (6) interface of the freezer (2); Step 2: Based on the physical characteristics of the flexible pipeline, dynamically calibrate a digital anchor point and reference tension for subsequent synchronous control; Step 3: When the freezer (2) moves along the conveyor belt (1), the control process for synchronous movement integrates position feedback based on the digital anchor point and tension feedback based on the reference tension.

2. The compressor vacuuming synchronous movement control method according to claim 1, characterized in that, Step two specifically includes: After the physical connection is completed, the synchronous mobile platform is controlled to perform a preset exploratory displacement; During the probing displacement process, the tension value of the flexible pipeline corresponding to the position of the synchronous moving platform is collected simultaneously; Based on the correspondence between the collected locations and tension values, the optimal location point with the minimum theoretical tension is calculated. The optimal position point is determined as the digital anchor point, and the theoretical minimum tension value corresponding to the optimal position point is determined as the reference tension.

3. The compressor vacuuming synchronous movement control method according to claim 2, characterized in that, The step of calculating the optimal location point with the minimum theoretical tension is achieved by fitting a function to the correspondence between the collected location and the tension value, and then finding the minimum value of the function.

4. The compressor vacuuming synchronous movement control method according to claim 1, characterized in that, In step three, the final speed command sent to the synchronous mobile platform consists of the following three parts: Feedforward speed command corresponding to the set speed of the conveyor belt (1); The visual velocity correction is generated based on the position error vector relative to the digital anchor point measured by the spatial perception module. The tension velocity correction is generated based on the tension error measured by the tension sensing module relative to the reference tension.

5. The compressor vacuuming synchronous movement control method according to claim 4, characterized in that, The visual speed correction is generated by continuously tracking a visual marker on the freezer (2) using a spatial perception module, calculating the position error vector between the current position of the visual marker and the digital anchor point in real time, and performing closed-loop control adjustment based on the position error vector.

6. The compressor vacuuming synchronous movement control method according to claim 4, characterized in that, The tension speed correction is generated by continuously measuring the real-time tension of the flexible pipeline using the tension sensing module, calculating the tension error between the real-time tension and the reference tension in real time, and performing closed-loop control adjustment based on the tension error.

7. The compressor vacuuming synchronous movement control method according to claim 1, characterized in that, The method also includes a safety protection step: in step three, if the real-time tension of the flexible pipeline is detected to exceed a preset safety threshold, the movement of the synchronous moving platform is immediately stopped.

8. The compressor vacuuming synchronous movement control method according to claim 2, characterized in that, The probing displacement is a trajectory movement within a preset local probing area centered on the connection point. The boundary of the local probing area is set to ensure that multiple data representing tension changes are collected effectively, while avoiding excessive stress on the flexible pipeline.

9. The compressor vacuuming synchronous movement control method according to claim 1, characterized in that, After step one and before step two begins, the vacuum pump (4) begins to perform a vacuuming operation on the compressor (6).

10. A compressor vacuuming synchronous movement control device, used to execute the compressor vacuuming synchronous movement control method according to any one of claims 1-9, characterized in that, include: A synchronous mobile platform is set on the conveying track (3) and can move along the track; A vacuum pump (4) is installed on the synchronous moving platform and has a flexible pipeline for connecting the compressor (6) of the freezer (2); A spatial perception module is installed on the synchronous mobile platform to acquire the visual position information of the freezer (2); Tension sensing module, used to measure the real-time tension of the flexible pipeline; The collaborative controller is electrically connected to the synchronous mobile platform, the spatial sensing module and the tension sensing module, and is configured to perform the method as described in any one of claims 1 to 9.

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