A crown block speed control method, device, equipment, medium and product

Abstract

The application discloses a kind of headgear speed control method, device, equipment, medium and product.The headgear speed control method includes: according to the speed limit information in the path label sequence associated with headgear transport task, determine to be decelerated point, deceleration target speed and initial deceleration starting point;After headgear travels to initial deceleration starting point, according to preset trigger condition, multiple acquisition headgear deceleration initial speed, according to deceleration initial speed, deceleration target speed and preset deceleration limit value, determine final deceleration distance, and determine final deceleration starting point based on final deceleration distance;According to deceleration initial speed, deceleration target speed, final deceleration distance, headgear transport task type and the label type in path label sequence, generate S-type speed curve;When reaching final deceleration starting point, control headgear movement based on S-type speed curve, until reaching to be decelerated point.The technical scheme of the embodiment of the application is adapted to real-time path change by dynamically adjusting deceleration point starting point.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of speed control, in particular to a headstock crane speed control method, device, equipment, medium and product. BACKGROUND

[0002] In the high-end precision manufacturing industry such as semiconductor and flat panel display, the overhead hoist transport (OHT for short) system, which is collectively referred to as "headstock crane" hereinafter, is the core equipment for wafer box automation transmission. The core task of the headstock crane is to quickly, smoothly and accurately transport the carrier carrying wafers to the designated processing machine or storage bin in a complex air track network. The running performance of the OHT directly affects the production efficiency, equipment life and wafer safety. Therefore, its control system puts forward higher requirements on running stability, stopping accuracy and dynamic path adaptability.

[0003] In the prior art, the headstock crane speed control method is mainly based on a trapezoidal speed curve combined with a preset strategy of fixed deceleration points. In the existing method, the running path is divided into a plurality of straight line segments and curved track segments in advance, and a maximum allowable speed is set for each segment. When the headstock crane runs to the preset fixed deceleration point, the control system will uniformly decelerate according to the preset fixed acceleration until the next level speed or stop. The acceleration of the above-mentioned trapezoidal speed curve has a step change at the start and end time, and the fixed deceleration point cannot adapt to the real-time changes of the path. SUMMARY

[0004] The present application provides a headstock crane speed control method, device, equipment, medium and product to solve the problem that the fixed deceleration point cannot adapt to the real-time changes of the path.

[0005] According to an aspect of the present application, a headstock crane speed control method is provided, comprising:

[0006] According to the speed limit information in the path label sequence associated with the headstock crane transportation task, the deceleration point to be decelerated, the deceleration target speed and the initial deceleration starting point are determined; each path label is located at the starting position of the associated path segment;

[0007] After the headstock crane drives to the initial deceleration starting point, the initial deceleration speed of the headstock crane is obtained multiple times according to a preset trigger condition, the final deceleration distance is determined according to the initial deceleration speed, the deceleration target speed and the preset deceleration limit value, and the final deceleration starting point is determined based on the final deceleration distance;

[0008] According to the initial deceleration speed, the deceleration target speed, the final deceleration distance, the type of the headstock crane transportation task and the type of the path label in the path label sequence, an S-shaped speed curve is generated;

[0009] When reaching the final deceleration starting point, the motion of the cage is controlled based on the S-shaped speed curve until reaching the point to be decelerated.

[0010] According to another aspect of the present application, there is provided a cage speed control device, comprising:

[0011] An initial deceleration point determination module is configured to determine the point to be decelerated, the target deceleration speed and the initial deceleration starting point according to the speed limit information in the path tag sequence associated with the cage transportation task, wherein each path tag is located at the starting position of the associated path section.

[0012] A final deceleration point determination module is configured to, after the cage travels to the initial deceleration starting point, acquire the initial deceleration speed of the cage multiple times according to preset trigger conditions, determine the final deceleration distance according to the initial deceleration speed, the target deceleration speed and a preset deceleration limit value, and determine the final deceleration starting point based on the final deceleration distance.

[0013] A speed curve generation module is configured to generate an S-shaped speed curve according to the initial deceleration speed, the target deceleration speed, the final deceleration distance, the type of the cage transportation task and the type of the path tag in the path tag sequence.

[0014] A cage speed control module is configured to, when reaching the final deceleration starting point, control the motion of the cage based on the S-shaped speed curve until reaching the point to be decelerated.

[0015] According to another aspect of the present application, there is provided an electronic device, comprising:

[0016] at least one processor; and

[0017] a memory connected to the at least one processor in communication; wherein

[0018] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the cage speed control method according to any one of the embodiments of the present application.

[0019] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to execute the cage speed control method according to any one of the embodiments of the present application.

[0020] According to another aspect of the present application, there is provided a computer program product comprising a computer program for enabling a processor to execute the cage speed control method according to any one of the embodiments of the present application.

[0021] The technical scheme of the embodiment of the present application determines the to-be-deceleration point, the deceleration target speed and the initial deceleration starting point according to the speed limit information in the path label sequence associated with the overhead traveling task, and then, after the overhead travels to the initial deceleration starting point, the initial deceleration speed of the overhead is acquired multiple times according to preset trigger conditions, the final deceleration distance is determined according to the initial deceleration speed, the deceleration target speed and the preset deceleration limit value, the final deceleration starting point is determined based on the final deceleration distance, the S-shaped speed curve is generated according to the initial deceleration speed, the deceleration target speed, the final deceleration distance, the path label sequence and the label type, and finally, when the final deceleration starting point is reached, the overhead is controlled to move based on the S-shaped speed curve until the to-be-deceleration point is reached. Through the way of acquiring the initial deceleration speed of the overhead multiple times, the final deceleration starting point is dynamically adjusted to adapt to real-time path changes, and the S-shaped speed curve can realize smooth acceleration change and reduce equipment vibration, thereby prolonging the service life of the equipment.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0024] Figure 1 is a flow chart of an overhead speed control method provided by the first embodiment of the present application;

[0025] Figure 2 is a flow chart of an overhead speed control method provided by the second embodiment of the present application;

[0026] Figure 3 is a structural schematic diagram of an overhead speed control device provided by the third embodiment of the present application;

[0027] Figure 4 is a structural schematic diagram of an electronic device for implementing the overhead speed control method of the present application. DETAILED DESCRIPTION

[0028] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application, so that those skilled in the art can better understand 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 work should fall within the scope of the present application.

[0029] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings 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 the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] Embodiment one

[0031] Figure 1 A flowchart of a crown block speed control method is provided for the first embodiment of the present application. The present embodiment can be applied to dynamically calculate the deceleration starting point based on the running state of the crown block. The method can be executed by a crown block speed control device, which can be realized in the form of hardware and / or software, and can be configured in various general-purpose computing devices. As shown in the figure, the method comprises: Figure 1

[0032] S110, determining the deceleration point, the target deceleration speed and the initial deceleration starting point according to the speed limit information in the path label sequence associated with the crown block transportation task.

[0033] The crown block transportation task usually requires the crown block to travel along the set travel path to the target storage location. The set travel path is composed of multiple road segments, and each road segment is associated with a path label. The path label is an identification pre-installed beside or on the crown block running track, and each path label is located at the starting position of the specific road segment associated with it. The path label stores the speed limit information of the road segment, specifically the road segment speed limit value.

[0034] The deceleration point is the position point on the set travel path at which the crown block must reduce the speed to a new target value. It is usually determined by the position of the path label associated with the path segment whose speed limit value is lower than that of the previous path segment, or the final target storage location of the task. ​

[0035] The deceleration target speed is a target speed that needs to be reached by the overhead traveling crane when traveling to the deceleration point, and the deceleration target speed is usually the highest allowed speed of the path associated with the deceleration point. The initial deceleration starting point is a position at which the deceleration theoretically starts, and is a starting reference point for dynamically determining the final deceleration starting point.

[0036] In the embodiment of the present application, after the running controller of the overhead traveling crane obtains the overhead traveling task, the initial position, the target storage location, the branch point in the path, and the traveling direction (left turn or right turn) at the branch point contained in the overhead traveling task are parsed. Further, according to the parsed initial position, target storage location, branch point, and traveling direction associated with the branch point, the complete path traveled by the overhead traveling task is determined, and the complete path is composed of a plurality of road segments, and the starting position of each road segment is provided with a path label corresponding to the road segment. Therefore, a path label sequence can be determined based on the path associated with the overhead traveling task, and the path label sequence contains the path labels of all road segments passed from the initial position to the target storage location.

[0037] After obtaining the path label sequence, the deceleration point, the deceleration target speed, and the initial deceleration starting point are determined according to the speed limit information stored in association with each path label. Specifically, a path label can be taken from the path label sequence as a current path label in sequence, and a next path label adjacent to the current path label is extracted. The road segment speed limit value of the current path label is compared with the road segment speed limit value associated with the next path label. In the case where the road segment speed limit value of the current path label is greater than the road segment speed limit value associated with the next path label, the position of the next path label is determined as the deceleration point, and the road segment speed limit value associated with the next path label is the deceleration target speed, that is, the overhead traveling crane needs to decelerate to the road segment speed limit value associated with the next path label when reaching the position of the next path label.

[0038] In addition, the distance of the road segment speed limit value corresponding to the previous path label per unit time is taken as the initial deceleration distance, and the initial deceleration distance is advanced from the deceleration point in the direction of the path label sequence to obtain the initial deceleration starting point, so as to realize the identification and preliminary positioning of the deceleration requirement. For example, the road segment speed limit value corresponding to the previous path label is 3.5 meters per second, and the unit time is 1 second, that is, 3.5 meters is directly taken as the initial deceleration distance, and the initial deceleration distance is advanced from the deceleration point in the opposite direction of the travel path to obtain the initial deceleration starting point.

[0039] S120, after the overhead traveling crane travels to the initial deceleration starting point, the initial speed of the overhead traveling crane is obtained multiple times according to a preset triggering condition, the final deceleration distance is determined according to the initial speed of the deceleration, the deceleration target speed, and the preset deceleration limit value, and the final deceleration starting point is determined based on the final deceleration distance.

[0040] The final deceleration starting point is an accurate position at which the overhead traveling crane actually starts to perform the deceleration operation after dynamic calculation and adjustment.

[0041] In the embodiment of the present application, after the overhead traveling crane travels to the initial deceleration starting point, the dynamic deceleration process is triggered. Specifically, according to a preset triggering condition, the initial deceleration speed of the overhead traveling crane is obtained multiple times, and according to the initial deceleration speed, the target deceleration speed, and the preset deceleration limit value, the final deceleration distance is determined by using a speed-displacement calculation formula. Then, taking the deceleration point as the starting point, the final deceleration distance is pushed in the reverse direction along the travel path to obtain the final deceleration starting point. For example, the preset triggering condition is that the overhead traveling crane travels a fixed distance, for example, 10 mm, passes a path tag, or is spaced a fixed time, for example, 10 ms. The initial deceleration speed can be the current running speed of the overhead traveling crane.

[0042] Optionally, determining the final deceleration starting point based on the final deceleration distance comprises:

[0043] determining a buffer crawling distance according to the preset deceleration buffer time length and the target deceleration speed;

[0044] taking the deceleration point as the starting point, pushing the buffer crawling distance and the final deceleration distance in the reverse direction along the path tag sequence to obtain the final deceleration starting point.

[0045] In the optional embodiment, a specific way of determining the final deceleration starting point based on the final deceleration distance is provided: in order to further ensure the accuracy and smoothness of the deceleration of the overhead traveling crane, a buffer crawling phase is further introduced. First, according to a preset deceleration buffer time length, for example, 0.5 seconds, and the target deceleration speed, the buffer crawling distance is calculated, that is, within 0.5 seconds before reaching the deceleration point, the speed has been reduced to the target deceleration speed. Finally, taking the deceleration point as the reference, the buffer crawling distance is pushed in the reverse direction of the path (i.e., the reverse direction of the path tag sequence), and then the final deceleration distance is further pushed to obtain the final deceleration starting point. That is, the overhead traveling crane should start to perform the deceleration operation at the final deceleration starting point, reduce the speed to the target deceleration speed at the buffer crawling distance before reaching the deceleration point, and crawl the buffer crawling distance at the target deceleration speed. By introducing the buffer crawling phase, the main deceleration phase and the final positioning phase are decoupled, a fault tolerance space is provided for the main deceleration curve, and it is ensured that even if there is a small speed error at the end of the main deceleration, gentle adjustment can be performed in the low-speed crawling section, thereby greatly improving the accuracy and reliability of the final parking.

[0046] S130, generating an S-shaped speed curve according to the initial deceleration speed, the target deceleration speed, the final deceleration distance, the type of the overhead traveling crane transportation task, and the type of the label in the path tag sequence.

[0047] The S-shaped speed curve is a curve of speed changing with time or displacement, and the acceleration thereof continuously changes and has no step. The S-shaped speed curve usually comprises seven stages of jerk, uniform acceleration, deceleration, uniform speed, acceleration-deceleration, uniform deceleration and deceleration-deceleration, can significantly smooth the motion process, and reduce impact.

[0048] In the embodiment of the present application, a strategy mapping table is pre-maintained in the running controller of the overhead traveling crane. First, the strategy mapping table is queried according to the transportation task type to determine the basic performance preference corresponding to the current transportation task type, such as priority of stability or priority of efficiency. Based on the basic performance preference, the corresponding maximum speed (i.e. the maximum speed of the S-shaped speed curve) is determined. Further, the label type between the final deceleration starting point and the to-be-decelerated point (deceleration path interval) is obtained, and the maximum jerk of the S-shaped speed curve is determined according to the label type. For example, if the deceleration path interval contains a curved track segment label, a smaller maximum jerk needs to be used to ensure that the acceleration changes extremely smoothly when passing through the curve and to suppress lateral vibration. If the end of the interval contains a storage position entrance label, a smaller jerk needs to be used and the maximum speed of the curve needs to be limited to a very low crawling speed to meet the extreme requirement of stability for high-precision parking. If the interval is entirely a straight line, a relatively larger jerk can be used to improve efficiency.

[0049] Finally, the complete S-shaped speed curve is generated by using the S-shaped curve data model with the determined maximum speed and maximum jerk as the boundary conditions of the initial deceleration speed, the target deceleration speed and the final deceleration distance.

[0050] S140, when the overhead traveling crane reaches the final deceleration starting point, the motion of the overhead traveling crane is controlled based on the S-shaped speed curve until the to-be-decelerated point is reached.

[0051] In the embodiment of the present application, the controller can periodically obtain the position of the overhead traveling crane through the position sensor. When the overhead traveling crane travels to the final deceleration starting point, the controller switches from the current uniform speed or acceleration control mode to the S-shaped speed curve tracking mode, experiences a smooth deceleration process, and finally reduces the speed to the target deceleration speed when the to-be-decelerated point is reached.

[0052] In addition, if the current deceleration is a level in the multi-level deceleration of “high speed-crawling”, after reaching the to-be-decelerated point, the process of S110-S130 is repeated with the new speed as the starting point for the next level of “crawling-crawling” deceleration to generate and execute the next S-shaped speed curve, thereby realizing seamless and smooth connection of multi-level deceleration.

[0053] The technical scheme of the embodiment of the present application determines the to-be-deceleration point, the deceleration target speed and the initial deceleration starting point according to the speed limit information in the path label sequence associated with the overhead traveling task, and then, after the overhead travels to the initial deceleration starting point, the initial deceleration speed of the overhead is acquired multiple times according to the preset trigger condition, the final deceleration distance is determined according to the initial deceleration speed, the deceleration target speed and the preset deceleration limit value, and the final deceleration starting point is determined based on the final deceleration distance, the S-shaped speed curve is generated according to the initial deceleration speed, the deceleration target speed, the final deceleration distance, the type of the overhead traveling task and the label type in the path label sequence, and finally, when the final deceleration starting point is reached, the movement of the overhead is controlled based on the S-shaped speed curve until the to-be-deceleration point is reached. Through the way of acquiring the initial deceleration speed of the overhead multiple times, the final deceleration starting point is dynamically adjusted to adapt to real-time path changes, and the S-shaped speed curve can realize smooth acceleration change and reduce equipment vibration, thereby prolonging the service life of the equipment.

[0054] Embodiment two

[0055] Figure 2 A flowchart of a speed control method of an overhead provided by the second embodiment of the present application is further refined on the basis of the above-mentioned embodiment, and specific steps of determining the to-be-deceleration point, the deceleration target speed and the initial deceleration starting point according to the speed limit information in the path label sequence associated with the overhead traveling task are provided, specific steps of acquiring the initial deceleration speed of the overhead multiple times according to the preset trigger condition after the overhead travels to the initial deceleration starting point, determining the final deceleration distance according to the initial deceleration speed, the deceleration target speed and the preset deceleration limit value, and determining the final deceleration starting point based on the final deceleration distance, and specific steps of generating the S-shaped speed curve according to the initial deceleration speed, the deceleration target speed, the final deceleration distance, the type of the overhead traveling task and the label type in the path label sequence. As shown in the figure, Figure 2 The method comprises the following steps of:

[0056] S210, comparing the road section speed limit values corresponding to each pair of adjacent path labels in the path label sequence associated with the overhead traveling task.

[0057] In the embodiment of the present application, in order to determine the to-be-deceleration point in the overhead traveling path, the deceleration demand identification process is started after the complete path label sequence corresponding to the transportation task is loaded. In the deceleration demand identification process, each pair of adjacent path labels is sequentially traversed, and the subsequent is recorded as the previous path label and the subsequent path label.

[0058] For each pair of adjacent path labels, the first road segment speed limit value of the road segment associated with the previous path label and the second road segment speed limit value of the road segment associated with the next path label are read from the label information, respectively. Then, the first road segment speed limit value and the second road segment speed limit value are compared, until the last pair of path labels is processed, thereby systematically scanning all possible speed limit change points existing in the whole path.

[0059] In the case that the road segment speed limit value of the next path label is less than the road segment speed limit value of the previous path label, the position of the next path label is determined as the to-be-deceleration point, the road segment speed limit value corresponding to the next path label is determined as the deceleration target speed, and the road segment speed limit value corresponding to the previous path label is determined as the current target speed.

[0060] In the case that the road segment speed limit value of the next path label is less than the road segment speed limit value of the previous path label, the position of the next path label is determined as the to-be-deceleration point, the road segment speed limit value corresponding to the next path label is determined as the deceleration target speed, and the road segment speed limit value corresponding to the previous path label is determined as the current target speed.

[0061] S230, the distance traveled at the current target speed in a unit of time is used as the initial deceleration distance, and the initial deceleration distance is advanced from the to-be-deceleration point in the reverse direction of the path label sequence to obtain an initial deceleration starting point.

[0062] In the embodiment of the present application, the distance that the crane can travel in a unit of time if it travels at the first speed limit value corresponding to the road segment to which the previous path label belongs is used as a conservative initial estimation of the distance required to complete deceleration, that is, the initial deceleration distance. Then, the initial deceleration distance is advanced from the to-be-deceleration point in the reverse direction of the direction in which the crane travels (the reverse direction of the path label sequence) to obtain an initial deceleration starting point. By converting the estimation of the deceleration distance into a preset of the fixed deceleration time, the problem of needing complex dynamic parameters and accurate deceleration in the early stage is avoided, and the initial deceleration point is ensured to be set at an early position with sufficient deceleration distance, thereby providing a basis for the dynamic adjustment of the subsequent deceleration starting point.

[0063] S240, after the crane travels to the initial deceleration starting point, the initial speed of the crane is obtained each time the crane travels to a dynamic deceleration triggering position.

[0064] The dynamic deceleration triggering position is a position point defined periodically or according to a specific rule on the path for triggering a new round of deceleration calculation after the crane passes the initial deceleration starting point.

[0065] The initial speed of deceleration can be the current running speed of the overhead traveling crane, and can also be defined as the larger one of the current running speed and the current target speed in order to ensure that the deceleration distance is sufficient.

[0066] In the embodiment of the present application, after the overhead traveling crane travels to the initial deceleration starting point, the initial deceleration speed of the overhead traveling crane is dynamically obtained each time the overhead traveling crane travels to the dynamic deceleration triggering position. For example, the dynamic deceleration triggering position can be a position reached after traveling a set length or a position of a label between the initial deceleration starting point and the deceleration point.

[0067] Optionally, after the overhead traveling crane travels to the initial deceleration starting point, the initial deceleration speed of the overhead traveling crane is obtained each time the overhead traveling crane travels to the dynamic deceleration triggering position, including:

[0068] The label of the path between the deceleration point and the initial deceleration starting point is determined as the deceleration point label.

[0069] After the overhead traveling crane travels to the initial deceleration starting point, the current running speed of the overhead traveling crane and the current target speed of the overhead traveling crane are obtained each time the overhead traveling crane travels a set length or reaches the deceleration point label. The current target speed is the speed limit value of the current road segment of the overhead traveling crane or the deceleration target value after detecting an obstacle.

[0070] The larger one of the current running speed and the current target speed is taken as the initial deceleration speed of the overhead traveling crane.

[0071] In the optional embodiment, a way of obtaining the initial deceleration speed of the overhead traveling crane each time the overhead traveling crane travels to the dynamic deceleration triggering position after the overhead traveling crane travels to the initial deceleration starting point is provided. First, the label of the path between the deceleration point and the initial deceleration starting point is determined as the deceleration point label. After the overhead traveling crane travels to the initial deceleration starting point, the current running speed of the overhead traveling crane and the current target speed of the overhead traveling crane are obtained each time the overhead traveling crane travels a set length or reaches the deceleration point label. The current target speed is the speed limit value of the current road segment of the overhead traveling crane or the deceleration target value after detecting an obstacle. Finally, the larger one of the current running speed and the current target speed is taken as the initial deceleration speed of the overhead traveling crane. By taking the larger one of the current running speed and the current target speed as the initial deceleration speed of the final deceleration starting point, the sufficiency of the deceleration distance can be ensured, and the problem of untimely deceleration can be avoided.

[0072] S250, the final deceleration distance is calculated according to the initial deceleration speed of the overhead traveling crane, the deceleration target speed, and the preset deceleration limit value by using a speed displacement calculation formula, and the final deceleration starting point is determined based on the final deceleration distance.

[0073] In the embodiment of the present application, the speed displacement calculation formula is adopted, the final deceleration distance is calculated according to the initial deceleration speed, the target deceleration speed and the preset deceleration limit value of the crown block, and the final deceleration starting point is determined based on the final deceleration distance. The specific calculation formula of the final deceleration point distance S is as follows:

[0074]

[0075] wherein, is the initial deceleration speed, is the target deceleration speed, is the preset deceleration limit, and are compensation coefficients, respectively.

[0076] S260, according to the label type in the path label sequence and the crown block transportation task type, determine the parameter set of the S-shaped speed curve, the parameter set includes the maximum speed and the maximum jerk.

[0077] The parameter set of the S-shaped speed curve is a group of variables for determining the shape and performance characteristics of the S-shaped speed curve. For example, the parameter set includes the maximum speed and the maximum jerk. The maximum speed is the peak speed that the currently planned S-shaped speed curve can reach. The jerk is the rate of change of acceleration. The smaller the jerk, the more gentle the change in acceleration, and the more stable the movement of the crown block. The maximum jerk is the maximum jerk that the currently planned S-shaped speed curve can reach.

[0078] The path label type is the functional attribute classification of the section to which the path label belongs. For example, the path label type includes a straight section, a curved track section, an overhead hoist buffer (OHB) storage location, a port storage location, and a general speed limit area.

[0079] In the embodiment of the present application, a strategy mapping table is maintained in the controller of the crown block. First, the above-mentioned strategy mapping table is queried according to the transportation task type to determine the basic performance preference corresponding to the current transportation task type, such as smoothness priority or efficiency priority. Based on the above-mentioned basic performance preference, the corresponding maximum speed (i.e. the maximum speed of the S curve) is determined. Further, the label type between the final deceleration starting point and the to-be-decelerated point (deceleration path interval) is obtained, and the maximum jerk of the S-shaped speed curve is determined according to the label type. For example, if the curved track section label is contained in the deceleration path interval, a smaller maximum jerk needs to be used to ensure that the acceleration changes extremely smoothly when passing through the curve, and transverse vibration is suppressed. If the storage location entrance label is contained at the end of the interval, a smaller jerk needs to be used and the maximum speed of the curve is limited to a very low crawling speed to meet the extreme requirement of smoothness for high-precision parking. If the interval is all straight, a relatively large jerk can be selected to improve efficiency.

[0080] Optionally, according to the label type in the path label sequence and the type of the crane transportation task, a parameter set of the S-shaped speed curve is determined, including:

[0081] Based on the label type of the path label between the final deceleration starting point and the point to be decelerated, the maximum jerk of the S-shaped curve is determined.

[0082] Based on the attribute of the transportation task, the maximum speed of the S-shaped curve is determined.

[0083] In this optional embodiment, a specific way of determining the parameter set of the S-shaped speed curve according to the label type in the path label sequence and the type of the crane transportation task is provided: first, based on the label type between the final deceleration starting point and the point to be decelerated, the maximum jerk is added to the parameter set by querying the strategy mapping table. For example, if there is a curved track segment in the interval, the corresponding maximum jerk is less than the corresponding maximum jerk when the interval is completely a straight line segment.

[0084] Based on the attribute of the transportation task, the maximum speed of the S-shaped curve corresponding to the attribute of the transportation task is added to the parameter set by querying the strategy mapping table. For example, based on the attribute of the transportation task, the task preference can be determined, such as smooth priority or efficiency priority. Based on the above basic performance preference, the corresponding maximum speed (i.e. the maximum speed of the S-shaped curve) is determined, wherein the maximum speed corresponding to the smooth priority type task is less than the maximum speed corresponding to the efficiency priority type task.

[0085] S270, according to the parameter set, the deceleration initial speed, the deceleration target speed and the final deceleration distance, the S-shaped speed curve is planned.

[0086] In the embodiment of the application, the deceleration initial speed, the deceleration target speed and the final deceleration distance are used as boundary conditions, and the maximum speed and the maximum jerk determined above are used to generate a complete S-shaped speed curve through the S-shaped curve data model.

[0087] The technical scheme of the embodiment of the present application determines the to-be-deceleration point, the deceleration target speed and the initial deceleration starting point according to the speed limit information in the path label sequence associated with the overhead traveling task, then after the overhead travels to the initial deceleration starting point, the overhead deceleration initial speed is acquired multiple times according to the preset trigger condition, the final deceleration distance is determined according to the overhead deceleration initial speed, the deceleration target speed and the preset deceleration limit value, and the final deceleration starting point is determined based on the final deceleration distance, the S-shaped speed curve is generated according to the overhead deceleration initial speed, the deceleration target speed, the final deceleration distance, the type of the overhead traveling task and the label type in the path label sequence, and finally when the final deceleration starting point is reached, the overhead movement is controlled based on the S-shaped speed curve until the to-be-deceleration point is reached. Through the way of acquiring the overhead deceleration initial speed multiple times, the final deceleration starting point is dynamically adjusted to adapt to real-time path changes, and the S-shaped speed curve can realize smooth acceleration change and reduce equipment vibration, thereby prolonging the service life of the equipment.

[0088] Embodiment three

[0089] Figure 3 A structural schematic diagram of an overhead speed control device provided by the third embodiment of the present application is shown in FIG. 3. As shown in the figure, the device comprises: Figure 3

[0090] An initial deceleration point determination module 310 is configured to determine the to-be-deceleration point, the deceleration target speed and the initial deceleration starting point according to the speed limit information in the path label sequence associated with the overhead traveling task. Each path label is located at the starting position of the associated path section.

[0091] A final deceleration point determination module 320 is configured to acquire the overhead deceleration initial speed multiple times according to the preset trigger condition after the overhead travels to the initial deceleration starting point, determine the final deceleration distance according to the overhead deceleration initial speed, the deceleration target speed and the preset deceleration limit value, and determine the final deceleration starting point based on the final deceleration distance.

[0092] A speed curve generation module 330 is configured to generate the S-shaped speed curve according to the overhead deceleration initial speed, the deceleration target speed, the final deceleration distance, the type of the overhead traveling task and the label type in the path label sequence.

[0093] An overhead speed control module 340 is configured to control the overhead movement based on the S-shaped speed curve when the final deceleration starting point is reached, until the to-be-deceleration point is reached.

[0094] ​The technical scheme of the embodiment of the application determines the to-be-deceleration point, the deceleration target speed and the initial deceleration starting point according to the speed limit information in the path label sequence associated with the overhead traveling task, and then, after the overhead traveling to the initial deceleration starting point, the initial deceleration speed of the overhead is acquired multiple times according to the preset triggering condition, the final deceleration distance is determined according to the initial deceleration speed, the deceleration target speed and the preset deceleration limit value, and the final deceleration starting point is determined based on the final deceleration distance, the S-shaped speed curve is generated according to the initial deceleration speed, the deceleration target speed, the final deceleration distance, the path label type in the path label sequence and the type of the overhead traveling task, and finally, when the final deceleration starting point is reached, the overhead is controlled to move based on the S-shaped speed curve until the to-be-deceleration point is reached. Through the way of acquiring the initial deceleration speed of the overhead multiple times, the final deceleration starting point is dynamically adjusted to adapt to real-time path changes, and the S-shaped speed curve can realize smooth acceleration change and reduce equipment vibration, thereby prolonging the service life of the equipment.

[0095] Optionally, the initial deceleration point determination module 310 is specifically configured to:

[0096] compare the road section speed limit values corresponding to two adjacent path labels in the path label sequence associated with the overhead traveling task;

[0097] in the case where the road section speed limit value of the latter path label is less than the road section speed limit value of the former path label, determine the position of the latter path label as the to-be-deceleration point, determine the road section speed limit value corresponding to the latter path label as the deceleration target speed, and determine the road section speed limit value corresponding to the former path label as the current target speed;

[0098] take the distance traveled by the overhead at the current target speed per unit time as the initial deceleration distance, and advance the initial deceleration distance from the to-be-deceleration point in the reverse direction of the path label sequence to obtain the initial deceleration starting point.

[0099] Optionally, the final deceleration point determination module 320 comprises:

[0100] the initial speed determination unit is configured to acquire the initial deceleration speed of the overhead when the overhead travels to the dynamic deceleration triggering position each time after the overhead travels to the initial deceleration starting point;

[0101] the final deceleration distance determination unit is configured to calculate the final deceleration distance according to the initial deceleration speed of the overhead, the deceleration target speed and the preset deceleration limit value by using a speed displacement calculation formula.

[0102] Optionally, the final deceleration point determination module 320 further comprises:

[0103] the buffer specific determination unit is configured to determine the buffer crawling distance according to the preset deceleration buffer time length and the deceleration target speed;

[0104] A final deceleration point determination unit is configured to determine a final deceleration starting point by advancing the buffer crawl distance and the final deceleration distance in a reverse direction of the path label sequence from the to-be-decelerated point as a starting point.

[0105] Optionally, an initial speed determination unit is configured to:

[0106] determine a path label between the to-be-decelerated point and the initial deceleration starting point as a deceleration point label;

[0107] after the crown block travels to the initial deceleration starting point, acquire a current running speed and a current target speed of the crown block every time the crown block travels a set length or reaches the deceleration point label; the current target speed is a speed limit value of a section where the crown block is currently located or a deceleration target value after an obstacle is detected;

[0108] determine a larger one of the current running speed and the current target speed as an initial deceleration speed of the crown block.

[0109] Optionally, the speed curve generation module 330 includes:

[0110] a parameter determination unit configured to determine a parameter set of the S-shaped speed curve according to a label type in the path label sequence and a transportation task type of the crown block, the parameter set including a maximum speed and a maximum jerk;

[0111] a speed curve generation unit configured to plan the S-shaped speed curve according to the parameter set, the initial deceleration speed, a deceleration target speed, and the final deceleration distance.

[0112] Optionally, the parameter determination unit is configured to:

[0113] determine the maximum jerk of the S-shaped curve based on the label type of the path label between the final deceleration starting point and the to-be-decelerated point;

[0114] determine the maximum speed of the S-shaped curve based on the attribute of the transportation task.

[0115] The crown block speed control device provided in the embodiments of the present application can execute the crown block speed control method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0116] In the technical solution of the present application, the collected information is information and data authorized by the user or authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of related data comply with relevant laws, regulations and standards of relevant countries and regions, necessary security measures are taken, public order and good customs are not violated, and corresponding operation portals are provided for the user to choose authorization or refusal.

[0117] Embodiment Four

[0118] According to embodiments of the present application, the present application also provides an electronic device, a readable storage medium and a computer program product.

[0119] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, appliances, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0120] As shown in Figure 4 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., connected in communication with the at least one processor 11, where the memory stores a computer program executable by the at least one processor 11, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0121] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0122] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, and the like. The processor 11 performs various methods and processes described above, such as the headgear speed control method.

[0123] In some embodiments, the headgear speed control method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the headgear speed control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the headgear speed control method by any other suitable means, such as by means of firmware.

[0124] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0125] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a machine or a remote machine or application.

[0126] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0127] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0128] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data application server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0129] A computing system can include a client and an applicator. The client and the applicator are generally remote from each other and typically interact through a communication network. The relationship of client and applicator is produced by computer programs running on the respective computers and having a client-applicator relationship to each other. The applicator can be a cloud applicator, also known as a cloud computing applicator or cloud host, which is a host product in the cloud computing application system to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS application.

[0130] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0131] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of controlling the speed of a crown block, characterized by, include: Based on the speed limit information in the path label sequence associated with the overhead crane transportation task, determine the deceleration point, the target deceleration speed, and the initial deceleration starting point; Each route label is located at the beginning of the associated road segment; After the overhead crane reaches the initial deceleration starting point, the initial deceleration speed of the overhead crane is acquired multiple times according to the preset triggering conditions. Based on the initial deceleration speed, the target deceleration speed, and the preset deceleration limit, the final deceleration distance is determined, and the final deceleration starting point is determined based on the final deceleration distance. Based on the initial deceleration speed, target deceleration speed, final deceleration distance, crane transport task type, and label type in the path label sequence, an S-shaped speed curve is generated. Upon reaching the final deceleration starting point, the crane movement is controlled based on the S-shaped speed curve until it reaches the deceleration point. Based on the speed limit information in the path label sequence associated with the overhead crane transportation task, determine the deceleration point, the target deceleration speed, and the initial deceleration starting point, including: Compare the speed limit values ​​of the road segments corresponding to each pair of adjacent path labels in the path label sequence associated with the overhead crane transportation task; If the speed limit of the next path label is less than the speed limit of the previous path label, the location of the next path label is determined as the deceleration point, the speed limit of the next path label is determined as the deceleration target speed, and the speed limit of the previous path label is determined as the current target speed. The initial deceleration distance is the distance traveled per unit time at the current target speed, and the initial deceleration starting point is obtained by advancing the initial deceleration distance in the opposite direction of the path label sequence from the point to be decelerated. After the overhead crane reaches the initial deceleration starting point, the initial deceleration speed of the overhead crane is acquired multiple times according to preset trigger conditions. Based on the initial deceleration speed, the target deceleration speed, and the preset deceleration limit, the final deceleration distance is determined, including: After the crane travels to the initial deceleration starting point, the initial deceleration speed of the crane is obtained each time it travels to the dynamic deceleration trigger position; Using the velocity-displacement calculation formula, the final deceleration distance is calculated based on the initial deceleration velocity, the target deceleration velocity, and the preset deceleration limit of the overhead crane. After the overhead crane reaches the initial deceleration starting point, the initial deceleration speed of the overhead crane is obtained each time it reaches the dynamic deceleration trigger position, including: The path label between the point to be decelerated and the initial deceleration starting point is determined as the deceleration point label; After the overhead crane reaches the initial deceleration starting point, the crane will obtain its current operating speed and current target speed every time it travels a set distance or reaches a deceleration point tag; the current target speed is the speed limit value of the road segment where the crane is currently located or the deceleration target value after detecting an obstacle. The larger of the current operating speed and the current target speed is used as the initial deceleration speed of the crane.

2. The method according to claim 1, characterized in that, Determining the final deceleration starting point based on the final deceleration distance includes: The buffer crawl distance is determined based on the preset deceleration buffer duration and the target deceleration speed; Starting from the point to be decelerated, the buffer crawling distance and the final deceleration distance are advanced in the opposite direction of the path label sequence to obtain the final deceleration starting point.

3. The method according to claim 1, characterized in that, Based on the initial deceleration speed, target deceleration speed, final deceleration distance, crane transport task type, and label type in the path label sequence, an S-shaped speed curve is generated, including: Based on the label type in the path label sequence and the crane transportation task type, determine the parameter set of the S-shaped speed curve, which includes the maximum speed and the maximum jerk. Based on the parameter set, initial deceleration speed, target deceleration speed, and final deceleration distance, plan an S-shaped speed curve.

4. The method according to claim 3, characterized in that, Based on the label type in the path label sequence and the overhead crane transportation task type, determine the parameter set of the S-shaped speed curve, including: Based on the label type of the path label between the final deceleration starting point and the point to be decelerated, determine the maximum acceleration of the S-curve; Based on the attributes of the transportation task, the maximum speed of the S-curve is determined.

5. A crane speed control device, characterized in that, For executing the crane speed control method according to any one of claims 1-4, comprising: The initial deceleration point determination module is used to determine the deceleration point, the target deceleration speed, and the initial deceleration starting point based on the speed limit information in the path label sequence associated with the overhead crane transportation task; each path label is located at the beginning of the associated road segment; The final deceleration point determination module is used to acquire the initial deceleration speed of the crane multiple times according to preset triggering conditions after the crane travels to the initial deceleration starting point, determine the final deceleration distance based on the initial deceleration speed, the target deceleration speed and the preset deceleration limit, and determine the final deceleration starting point based on the final deceleration distance. The speed curve generation module is used to generate an S-shaped speed curve based on the initial deceleration speed, target deceleration speed, final deceleration distance, crane transportation task type, and label type in the path label sequence. The overhead crane speed control module is used to control the crane's movement based on the S-shaped speed curve when it reaches the final deceleration starting point, until it reaches the deceleration point. The initial deceleration point determination module is specifically used for: Compare the speed limit values ​​of the road segments corresponding to each pair of adjacent path labels in the path label sequence associated with the overhead crane transportation task; If the speed limit of the next path label is less than the speed limit of the previous path label, the location of the next path label is determined as the deceleration point, the speed limit of the next path label is determined as the deceleration target speed, and the speed limit of the previous path label is determined as the current target speed. The initial deceleration distance is the distance traveled per unit time at the current target speed, and the initial deceleration starting point is obtained by advancing the initial deceleration distance in the opposite direction of the path label sequence from the point to be decelerated. The final deceleration point determination module includes: The initial speed determination unit is used to obtain the initial deceleration speed of the crane each time it travels to the dynamic deceleration trigger position after the crane has traveled to the initial deceleration starting point. The final deceleration distance determination unit is used to calculate the final deceleration distance using the velocity-displacement calculation formula, based on the initial deceleration speed of the crane, the target deceleration speed, and the preset deceleration limit. The initial velocity determination unit is specifically used for: The path label between the point to be decelerated and the initial deceleration starting point is determined as the deceleration point label; After the overhead crane reaches the initial deceleration starting point, the crane will obtain its current operating speed and current target speed every time it travels a set distance or reaches a deceleration point tag; the current target speed is the speed limit value of the road segment where the crane is currently located or the deceleration target value after detecting an obstacle. The larger of the current operating speed and the current target speed is used as the initial deceleration speed of the crane.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the crane speed control method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the crane speed control method according to any one of claims 1-4.

8. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the crane speed control method according to any one of claims 1-4.

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