Method, device, equipment, medium and program product for motion planning of movable assembly

Abstract

The application relates to a movable component motion planning method, device, equipment, medium and program product. The method comprises the following steps: acquiring initial motion data of a movable component in a magnetic drive conveying system; based on a multi-stage curve motion planning algorithm, determining the number of stages and the total motion time of motion planning according to the initial motion data of the movable component; acquiring a set time; taking the set time, the number of stages and the total motion time of motion planning as constraint conditions; determining the adjusted motion data of the movable component according to different situations of the number of stages; obtaining a complete motion curve segment of the movable component; performing interpolation processing on the complete motion curve segment according to a preset interpolation trigger condition to generate motion control data; and controlling the movable component to complete displacement from a starting position to an end position within a set motion time length. The method can effectively control the motion time of the movable component and is applied to complex and more flexible application scenarios.

Description

Technical Field

[0001] This application relates to the field of magnetic drive conveying technology, and in particular to a motion planning method, apparatus, device, medium, and program product for a movable component. Background Technology

[0002] With the development of industrial automation technology, magnetic drive conveying technology has emerged. This technology uses magnetic fields to achieve non-contact material transfer. Its core consists of fixed components (such as stators) and movable components (such as movers). With its outstanding characteristics of low friction, high precision, and cleanliness, it has been widely used in industries with high requirements for transmission stability and cleanliness, such as semiconductor manufacturing and food processing.

[0003] In related technologies, when planning the motion of movable components in a magnetic drive conveyor system, the method of gradually adjusting and limiting the maximum acceleration or the maximum speed is often adopted. Through repeated testing and verification, the motion time is made to meet the preset requirements.

[0004] However, this adjustment method has obvious problems: First, the setting of maximum acceleration and maximum speed during the adjustment process lacks clear basis and is uncertain, resulting in a large error in the final planned motion time; second, the adjustment logic based on fixed rules is difficult to adapt to the differentiated time requirements of different processes in complex dynamic environments, and lacks flexibility; third, it requires multiple tests and verifications to determine suitable parameters, resulting in a long adjustment cycle and low efficiency. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, device, medium, and program product for motion planning of movable components that can effectively control the motion time of movable components and be applied to complex and more flexible application scenarios, in order to address the above-mentioned technical problems.

[0006] In a first aspect, this application provides a motion planning method for a movable component, applied to a magnetic drive conveyor system, the method comprising:

[0007] Acquire initial motion data of movable components in a magnetic drive conveyor system, wherein the initial motion data includes at least one of the following: starting position, ending position, maximum acceleration limit, maximum speed limit, and jerk.

[0008] Based on the multi-stage curve motion planning algorithm, the number of stages and the total motion time are determined according to the initial motion data of the movable component.

[0009] Obtain a set time, and use the set time, the number of stages in the motion plan, and the total motion time as constraints. Determine the adjusted motion data of the movable component based on the different numbers of stages in the motion plan.

[0010] Based on the adjusted motion data, a complete motion curve segment of the movable component is obtained. The complete motion curve segment is interpolated according to a preset interpolation trigger condition to generate motion control data. The motion control data is sent to the movable component to control the movable component to complete the displacement from the starting position to the ending position within a set motion duration.

[0011] In some embodiments of the method, determining the number of stages and the total motion time based on the initial motion data of the movable component using the multi-stage curve motion planning algorithm includes:

[0012] Determine the total distance of motion of the movable component, which is the difference between the absolute value of the endpoint position and the starting position, and determine the displacement of the acceleration segment and the displacement of the uniform acceleration segment.

[0013] Based on the relationship between the total distance of motion and the first distance and the second distance, and combined with the relationship between the maximum speed limit and the first speed, the number of stages of motion planning is determined;

[0014] The first distance is twice the sum of the acceleration segment displacement and the deceleration segment displacement; the second distance is twice the sum of the acceleration segment displacement, the deceleration segment displacement, and the uniform acceleration segment displacement; and the first velocity is the square of the maximum acceleration limit divided by the jerk.

[0015] In some embodiments of the method, determining the number of stages in motion planning based on the relationship between the total motion distance and the first distance and the second distance, combined with the relationship between the maximum speed limit and the first speed, includes:

[0016] In response to detecting that the total distance of motion is less than or equal to the first distance, the number of stages in the motion planning is four.

[0017] In response to detecting that the total distance of motion is greater than the first distance and the maximum speed limit is less than or equal to the first speed, the number of stages in motion planning is five.

[0018] In response to detecting that the total distance of motion is greater than the first distance and less than or equal to the second distance, and that the maximum speed limit is greater than the first speed, the number of motion planning stages is six.

[0019] In response to detecting that the total distance of motion is greater than the second distance and the maximum speed limit is greater than the first speed, the number of stages in motion planning is seven.

[0020] In some embodiments of the method, determining the adjusted motion data of the movable component based on the different numbers of motion planning stages includes:

[0021] The number of stages in response to motion planning is four, adjusting the maximum speed limit, maximum acceleration limit, and jerk.

[0022] In some embodiments of the method, determining the adjusted motion data of the movable component based on the different numbers of motion planning stages further includes:

[0023] In response to the planned number of segments being five, the fixed jerk remains constant, while the constant velocity time, maximum speed limit, and maximum acceleration limit are adjusted.

[0024] In response to the planned number of segments being six, the maximum acceleration and jerk are fixed and kept constant, while the uniform acceleration time and maximum speed are adjusted.

[0025] In response to the planned number of segments being seven, the maximum acceleration and jerk are fixed and kept constant, while the uniform acceleration time, uniform speed time, and maximum speed limit are adjusted.

[0026] In some embodiments of the method, obtaining a complete motion curve segment of the movable component based on the adjusted motion data, performing interpolation processing on the complete motion curve segment according to a preset interpolation trigger condition to generate motion control data, sending the motion control data to the movable component, and controlling the movable component to complete the displacement from the starting position to the ending position within a set motion duration includes:

[0027] The complete motion curve segment of the movable component is obtained based on the adjusted motion data.

[0028] Interpolation processing is performed on the complete motion curve segment according to the control accuracy requirements of the magnetic drive conveyor system and / or the motion characteristics of the movable components, based on the pre-configured interpolation trigger conditions. The interpolation processing includes the process of generating continuous motion control sub-data that satisfies the continuous change characteristics of the motion parameters of the complete motion curve segment between adjacent motion planning nodes, based on at least one motion parameter among the position, velocity, acceleration, and jerk of the complete motion curve segment.

[0029] Motion control data is generated and sent to the movable component, which is then controlled to complete the displacement from the starting position to the ending position within a set motion duration.

[0030] According to a second aspect of the present disclosure, a motion planning device for a movable component is provided. The device includes:

[0031] The input module is used to acquire the initial motion data of the movable component in the magnetic drive conveyor system. The initial motion data includes at least one of the following: starting position, ending position, maximum acceleration limit, maximum speed limit, and jerk.

[0032] The planning module is used to determine the number of stages and the total motion time of the motion planning based on the initial motion data of the movable component, using a multi-stage curve motion planning algorithm.

[0033] An adjustment module is used to acquire a set time, and, using the set time, the number of stages in the motion plan, and the total motion time as constraints, determine the adjusted motion data of the movable component based on different situations of the number of stages in the motion plan.

[0034] The output module is used to obtain the complete motion curve segment of the movable component based on the adjusted motion data, perform interpolation processing on the complete motion curve segment according to the preset interpolation trigger conditions to generate motion control data, send the motion control data to the movable component, and control the movable component to complete the displacement from the starting position to the ending position within a set motion duration.

[0035] According to a third aspect of the present disclosure, a computer device is provided. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the motion planning method for a movable component described above.

[0036] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the motion planning method for a movable component described above.

[0037] According to a fifth aspect of the present disclosure, a computer program product is provided. The computer program product includes a computer program that, when executed by a processor, implements the motion planning method for a movable component described above.

[0038] The motion planning scheme for movable components provided in this application embodiment, with time constraints as its core and combined with a multi-stage curve motion planning algorithm, effectively solves the problems of lack of basis and large error in motion time control in traditional methods by configuring initial motion data, determining the number of motion planning stages and total motion time, adjusting motion parameters, and outputting control data. It can accurately control the motion duration of movable components and adapt to the differentiated time requirements in different scenarios, greatly improving the flexibility of motion planning. Appropriate parameters can be determined without multiple tests and verifications, significantly improving planning efficiency. It is suitable for magnetic drive conveyor systems in complex dynamic environments.

[0039] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0041] Figure 1 This is a flowchart illustrating a motion planning method for a movable component according to an exemplary embodiment.

[0042] Figure 2 This is a flowchart illustrating the planning steps according to an exemplary embodiment;

[0043] Figure 3 This is a schematic diagram illustrating a motion planning method for a movable component according to an exemplary embodiment.

[0044] Figure 4 This is a structural block diagram of a motion planning device for a movable component according to an exemplary embodiment;

[0045] Figure 5 This is a diagram illustrating the internal structure of a computer device according to an exemplary embodiment. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure. The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in a process, method, product, or apparatus that includes said elements is not excluded. For example, the use of terms such as "first," "second," etc., to denote names does not indicate any specific order.

[0048] In some embodiments provided in this disclosure, the execution of the motion planning method for the movable component can be controlled by a unified controller or by multiple controllers. These controllers may include controllers on a local terminal or controllers on a remote server. In some embodiments, the controllers on the local terminal and the controllers on the server may work together to complete the motion planning and control processing of the movable component. The local terminal mentioned in this disclosure may include, but is not limited to, various robotic devices, vehicle-mounted devices, personal computers, laptops, smartphones, tablets, wearable devices, medical devices, VR (Virtual Reality) devices, etc. The server may also be a server, server cluster, distributed subsystem, cloud processing platform, server containing blockchain nodes, or a combination thereof. The controllers described in this disclosure may include various control units capable of implementing logic processing functions, including but not limited to CPU (Central Processing Unit), PLC (Programmable Logic Controller), ECU (Electronic Control Unit), MCU (Microcontroller Unit), FPGA (Field Programmable Gate Array), and CPLD (Complex Programmable Logic Device), as well as controllers composed of one or more logic function units, chips, etc.

[0049] Magnetic drive conveying systems, also known as magnetic levitation conveying systems or magnetic drive transmission systems, are a type of equipment that uses magnetic fields to achieve non-contact material transfer. They typically consist of a fixed component and a movable component. The fixed component is generally a stator, and the movable component is generally a mover. The mover moves under the influence of the magnetic field generated by the stator, thereby realizing material transfer. With its characteristics of low friction, high precision, and cleanliness, it is widely used in industries such as semiconductor manufacturing and food processing that have high requirements for transmission stability and cleanliness.

[0050] In some embodiments of this disclosure, a motion planning method for a movable component is provided, applied to a magnetic drive conveyor system, such as... Figure 1 As shown, it includes the following steps:

[0051] S20. Obtain initial motion data of the movable component in the magnetic drive conveyor system. The initial motion data includes at least one of the following: starting position, ending position, maximum acceleration limit, maximum speed limit, and jerk.

[0052] The starting position of a movable component usually refers to the spatial position when the component begins to move; the ending position usually refers to the target spatial position that the component needs to reach; the maximum acceleration limit refers to the upper limit of acceleration that the component is allowed to reach during its movement; the maximum speed limit usually refers to the upper limit of speed that the component is allowed to reach during its movement; jerk usually refers to the rate of change of acceleration, used to describe how fast the acceleration increases or decreases.

[0053] S22. Based on the multi-stage curve motion planning algorithm, determine the number of stages and the total motion time of the motion planning according to the initial motion data of the movable component.

[0054] Multi-stage curve motion planning algorithms typically refer to a common structure in motion planning that achieves smooth transitions in velocity and acceleration by dividing the motion process into different stages. The number of stages in motion planning usually refers to the number of stages in the multi-stage curve planning, determined based on conditions such as motion distance, velocity, and acceleration. The total motion time usually refers to the motion duration required for a component to move from its starting position to its ending position, calculated based on initial motion data. Multi-stage curve motion planning algorithms can include at least one of the following: S-curve motion planning algorithm, improved trapezoidal acceleration / deceleration algorithm, and multi-segment uniform acceleration / deceleration curve algorithm.

[0055] S24. Obtain the set time, and determine the adjusted motion data of the movable component based on the set time, the number of stages in the motion plan, and the total motion time as constraints, according to the different situations of the number of stages in the motion plan.

[0056] The set time usually refers to the time required for a component to complete its movement, which is preset according to the actual application requirements.

[0057] Based on the needs of actual production or application scenarios, the preset time for the component to complete its movement is obtained. The preset time, the number of stages of the determined movement plan, and the total movement time derived from the initial data are used as constraints. Different parameter adjustment strategies are adopted for different numbers of stages in the movement plan to determine the adjusted movement data of the movable component.

[0058] S26. Obtain the complete motion curve segment of the movable component based on the adjusted motion data, perform interpolation processing on the complete motion curve segment according to the preset interpolation trigger condition to generate motion control data, send the motion control data to the movable component, and control the movable component to complete the displacement from the starting position to the ending position within the set motion duration.

[0059] Based on the adjusted motion data, a complete motion curve for the movable component can be constructed. This curve accurately reflects the changes in the component's position, velocity, and acceleration at different points in time. Subsequently, according to preset interpolation trigger conditions, the complete motion curve is processed. By refining the motion control data, the insufficient accuracy of the coarse-planned curve is compensated for, resulting in smoother and more precise component movement. Finally, the processed motion control data is output to the movable component's drive system, driving the component to move from its starting position along the planned motion curve, ultimately reaching the endpoint accurately within a set time.

[0060] In some embodiments of this disclosure, a multi-stage curve motion planning algorithm is used as the core, which effectively solves the problems of lack of basis and large error in motion time control in traditional methods by configuring initial motion data, determining the number of stages and total motion time, adjusting motion parameters, and outputting control data. It can accurately control the motion duration of movable components and adapt to the differentiated time requirements in different scenarios, greatly improving the flexibility of motion planning. Appropriate parameters can be determined without multiple tests and verifications, which significantly improves planning efficiency and is suitable for magnetic drive conveyor systems in complex dynamic environments.

[0061] In some embodiments of this disclosure, such as Figure 2 As shown, S22 includes:

[0062] S222. Determine the total movement distance of the movable component, wherein the total movement distance is the difference between the absolute value of the endpoint position and the starting position, and determine the acceleration segment displacement and the uniform acceleration segment displacement.

[0063] S224. Based on the relationship between the total distance of motion and the first distance and the second distance, and combined with the relationship between the maximum speed limit and the first speed, determine the number of stages in the motion planning.

[0064] The first distance is twice the sum of the acceleration segment displacement and the deceleration segment displacement; the second distance is twice the sum of the acceleration segment displacement, the deceleration segment displacement, and the uniform acceleration segment displacement; and the first velocity is the square of the maximum acceleration limit divided by the jerk.

[0065] In some implementations, refer to Figure 3 Assuming the initial position of the mover in the input system is ps, the final position is pe, the maximum acceleration is limited to Am, the maximum velocity is limited to Vm, and the jerk is Jerk, it can be seen from the seven-segment programming that, given the set jerk, maximum velocity limit, and maximum acceleration limit, the distances of the acceleration segment, uniform acceleration segment, and deceleration segment can be calculated using these parameters. The mover displacement, i.e., the total distance the component moves, is the difference between the absolute values ​​of the final position and the initial position. For the acceleration phase, the acceleration time is specified in equation (1):

[0066]

[0067] The displacement during acceleration is given by the following formula (2):

[0068]

[0069] In equations (1) and (2), To accelerate the process, To accelerate the displacement of the acceleration segment.

[0070] For the uniform acceleration segment, the initial velocity is referenced in equation (3):

[0071]

[0072] In equation (3), The initial velocity is the velocity of the uniformly accelerated segment.

[0073] The time interval of uniform acceleration is as follows (4):

[0074]

[0075] In equation (4), For a period of uniform acceleration.

[0076] The displacement of the uniformly accelerated segment can be determined by the following formula (5):

[0077]

[0078] In equation (5), This represents the displacement during the uniformly accelerated segment.

[0079] For the deceleration / acceleration phase, the deceleration / acceleration phase duration is... The initial velocity of the deceleration and acceleration phase can be referred to the following formula (6):

[0080]

[0081] In equation (6), This is the initial velocity of the deceleration / acceleration phase.

[0082] The displacement during the deceleration / acceleration phase can be determined by the following formula (7):

[0083]

[0084] In equation (7), This is the displacement during the deceleration / acceleration phase.

[0085] In some implementations, the total distance traveled by the movable component can be calculated by determining the spatial distance between the endpoint and the starting position, i.e., the absolute difference between the two. Then, combining parameters such as the maximum acceleration limit and jerk from the initial motion data, the displacements of the acceleration and uniform acceleration phases during the motion are further determined. Next, two key distance parameters are introduced: the first distance is twice the sum of the acceleration and deceleration phase displacements, and the second distance is twice the sum of the acceleration, deceleration, and uniform acceleration phase displacements. Simultaneously, a first velocity is determined, its value being the ratio of the square of the maximum acceleration limit to the jerk. By comparing the total distance traveled with the first and second distances, and further combining this with the relationship between the maximum velocity limit and the first velocity, the number of motion planning stages is finally determined, and the total motion time based on the initial data is calculated simultaneously.

[0086] In some embodiments of this disclosure, by calculating key parameters such as total motion distance, acceleration segment displacement, and uniform acceleration segment displacement, a first distance, a second distance, and a first velocity are introduced as judgment criteria. This provides a clear and definite standard for determining the number of motion planning stages and the total motion time, thereby avoiding the blindness of relying on experience judgment in traditional planning, reducing the uncertainty in the planning process, further improving the accuracy of motion time planning, and laying a reliable foundation for subsequent parameter adjustments.

[0087] In some embodiments of this disclosure, S224 includes:

[0088] In response to detecting that the total distance of motion is less than or equal to the first distance, the number of stages in the motion planning is four.

[0089] In response to detecting that the total distance of motion is greater than the first distance and the maximum speed limit is less than or equal to the first speed, the number of stages in motion planning is five.

[0090] In response to detecting that the total distance of motion is greater than the first distance and less than or equal to the second distance, and that the maximum speed limit is greater than the first speed, the number of motion planning stages is six.

[0091] In response to detecting that the total distance of motion is greater than the second distance and the maximum speed limit is greater than the first speed, the number of stages in motion planning is seven.

[0092] Specifically, when the total distance of motion does not exceed the first distance, it indicates that the component's motion distance is relatively short, and a complete seven-segment structure is not required; the number of stages in the motion planning is determined to be four. When the total distance of motion exceeds the first distance, and the maximum speed is limited to not exceeding the first speed, both the component's motion distance and speed are at a medium level; the number of stages in the motion planning is determined to be five. When the total distance of motion exceeds the first distance but does not exceed the second distance, and the maximum speed is limited to exceeding the first speed, the component has a uniform acceleration stage but no uniform speed stage; the number of stages in the motion planning is determined to be six. When the total distance of motion exceeds the second distance, and the maximum speed is limited to exceeding the first speed, the component's motion distance is relatively long, with both uniform acceleration and uniform speed stages; the number of stages in the motion planning is determined to be seven.

[0093] In some examples, when , When the displacement distance of the mover is small, only four segments need to be planned. In particular, when This can be categorized as a four-stage planning scenario.

[0094] when and When the displacement distance of the mover is small, the maximum speed limit is also small. In this case, only five segments need to be planned. .

[0095] when and At this point, the mover has a period of uniform acceleration, but no period of uniform velocity. Especially when and This can be categorized as a six-segment planning scenario.

[0096] when and At this point, the mover has a period of uniform acceleration and a period of uniform velocity. .

[0097] In some embodiments of this disclosure, four planning scenarios—four, five, six, and seven segments—can be clearly defined based on the relationship between different total distances and key distances, and the relationship between the maximum speed limit and the first speed. This makes the segment number determination more targeted, accurately adapting to different movement situations such as short distances, short-to-medium distances, medium-to-long distances, and long distances. This makes the movement planning logic more rigorous, further reducing the planning error of movement time and ensuring that subsequent parameter adjustments can more efficiently adapt to the set time requirements.

[0098] In some embodiments of this disclosure, S24 includes:

[0099] The number of stages in response to motion planning is four, adjusting the maximum speed limit, maximum acceleration limit, and jerk.

[0100] In some examples, when the number of stages in motion planning is four, i.e. When =4, when This indicates that the input time is less than the time planned for the four segments according to the set parameters; otherwise... This indicates that the input time is greater than the time required to plan four segments according to the set parameters. At this point, the number of motion planning stages is 4 segments, and a new maximum speed limit needs to be calculated. The acceleration / deceleration period after inputting the set time is... The maximum speed limit can be recalculated using the following formula (8):

[0101]

[0102] The recalculated acceleration can be referred to the following formula (9):

[0103]

[0104] The recalculated jerk can be referred to the following formula (10):

[0105]

[0106] At this point, the maximum speed limit, maximum acceleration limit, and jerk are recalculated.

[0107] In some embodiments of this disclosure, a specific parameter adjustment strategy is formulated for the four-segment planning scenario. By simultaneously adjusting the maximum speed limit, the maximum acceleration limit, and the jerk, the characteristics of short-distance motion can be fully adapted. Under the set time constraints, the stability and accuracy of the short-distance motion of the movable component are ensured, and the impact or time deviation caused by improper adjustment of short-distance motion parameters is avoided.

[0108] In some embodiments of this disclosure, S24 further includes:

[0109] In response to the planned number of segments being five, the fixed jerk remains constant, while the constant velocity time, maximum speed limit, and maximum acceleration limit are adjusted.

[0110] In response to the planned number of segments being six, the maximum acceleration and jerk are fixed and kept constant, while the uniform acceleration time and maximum speed are adjusted.

[0111] In response to the planned number of segments being seven, the maximum acceleration and jerk are fixed and kept constant, while the uniform acceleration time, uniform speed time, and maximum speed limit are adjusted.

[0112] In some examples, when and When the displacement distance of the mover is small, the maximum speed limit is also small. In this case, only five segments need to be planned. . To satisfy the requirement of displacement within a specified input time, and to ensure the existence of a solution to the equation, the jerk can be treated as an invariant, and the uniform motion time can be adjusted. Recalculated maximum speed limit and the recalculated maximum acceleration limit .

[0113] The recalculated acceleration time is The recalculated maximum acceleration limit is... The recalculated maximum speed limit is... The displacement satisfies the following equation: .

[0114] The equation can be obtained by rearranging the equations, as shown in equation (11):

[0115]

[0116] A reasonable solution can be obtained using Cardano's formula for cubic equations. Thus, the solution is obtained. , , .

[0117] In other examples, when , , 6; To satisfy the existence of a solution to the equation, the maximum acceleration and jerk can be treated as invariants, and the uniform acceleration time can be recalculated. Limit maximum speed At this point, the recalculated uniform acceleration period is... The recalculated maximum speed is The displacement-time condition satisfies the equation: .

[0118] The above simplification yields a linear equation in one variable, as shown in equation (12):

[0119]

[0120] The recalculated uniform acceleration time can be obtained by solving the problem. and .

[0121] In some other examples, when and , 7. At this time when To satisfy the existence of a solution to the equation, the maximum acceleration and jerk can be treated as invariants, and the uniform acceleration time can be adjusted. Limit maximum speed At this point, the recalculated uniform acceleration time is... The recalculated uniform motion time is The displacement satisfies the following equation: .

[0122] From the above simplification, we obtain the following equation (13):

[0123]

[0124] The recalculated uniform acceleration time can be obtained using the square root formula. and .

[0125] In some embodiments of this disclosure, differentiated parameter adjustment strategies are formulated for three planning scenarios: five-segment, six-segment, and seven-segment. By fixing some key parameters and adjusting core variables, the complexity of parameter adjustment is simplified and the adjustment efficiency is improved. At the same time, fixing key parameters such as jerk or limiting the maximum acceleration can ensure the stability of the motion process, avoid component motion shock caused by excessive parameter adjustment, and enable motion planning under different distances and scenarios to efficiently adapt to the set time.

[0126] In some embodiments of this disclosure, S26 includes:

[0127] The complete motion curve segment of the movable component is obtained based on the adjusted motion data.

[0128] Interpolation processing is performed on the complete motion curve segment according to the control accuracy requirements of the magnetic drive conveyor system and / or the motion characteristics of the movable components, based on the pre-configured interpolation trigger conditions. The interpolation processing includes the process of generating continuous motion control sub-data that satisfies the continuous change characteristics of the motion parameters of the complete motion curve segment between adjacent motion planning nodes, based on at least one motion parameter among the position, velocity, acceleration, and jerk of the complete motion curve segment.

[0129] Motion control data is generated and sent to the movable component, which is then controlled to complete the displacement from the starting position to the ending position within a set motion duration.

[0130] In some embodiments of this disclosure, before outputting motion control data, interpolation trigger conditions pre-configured according to the control accuracy requirements of the magnetic drive conveyor system and / or the motion characteristics of the movable component can be used to interpolate the complete motion curve segment. After configuration, interpolation processing is performed on the complete motion curve segment based on the interpolation trigger conditions to achieve refined generation of motion control data, ensuring the accuracy and smoothness of the movable component's motion, and adapting to the motion control requirements of the magnetic drive conveyor system in different application scenarios. The interpolation processing may include one or more of position interpolation, velocity interpolation, high-order motion parameter interpolation, segmented adaptation interpolation, and real-time correction interpolation. A single interpolation processing method can be executed according to the actual scenario requirements, or multiple interpolation processing methods can be combined to achieve refined generation of motion control data.

[0131] In some examples, the motion curve can be refined according to the servo cycle, which can effectively improve the accuracy of motion control data, ensure smoother transition of speed and acceleration of movable components during motion, reduce motion shock and vibration, ensure the stability and accuracy of component motion, reduce component and system wear, extend equipment life, and ensure that components can complete displacement strictly according to the set time, further improving the reliability of motion planning.

[0132] The motion planning methods for movable components disclosed herein, with time constraints as the core and combined with multi-stage curve motion planning algorithms, effectively solve the problems of lack of basis and large errors in motion time control in traditional methods by configuring initial motion data, determining the number of stages and total motion time, adjusting motion parameters, and outputting control data. They can precisely control the motion duration of movable components and adapt to the differentiated time requirements in different scenarios, greatly improving the flexibility of motion planning. Appropriate parameters can be determined without multiple tests and verifications, significantly improving planning efficiency. They are suitable for magnetic drive conveyor systems in complex dynamic environments.

[0133] It is understood that the various embodiments of the methods described in this specification are presented in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. Related details can be found in the descriptions of other method embodiments.

[0134] It should be understood that although the steps in the flowcharts shown in the accompanying drawings are displayed sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the accompanying drawings may include multiple steps or stages, which are not necessarily completed at the same time, but may be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but may be performed alternately or in turn with other steps or at least a portion of the steps or stages of other steps.

[0135] Based on the description of the motion planning method embodiments for movable components described above, this disclosure also provides a motion planning device for movable components used to implement the motion planning method for movable components involved above. The device may include a system (including a distributed system), software (application), module, component, controller, server, terminal, etc., using the method described in the embodiments of this specification, combined with necessary hardware implementation. Based on the same innovative concept, the devices in one or more embodiments provided in this disclosure are as described in the following embodiments. Since the implementation schemes and methods for solving the problem by the devices are similar, the implementation of specific devices in the embodiments of this specification can refer to the implementation of the foregoing method, and repeated details will not be repeated. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0136] Figure 4 This is a schematic block diagram illustrating a motion planning device for a movable component according to an exemplary embodiment. The device can be the aforementioned terminal, a server, or a module, component, device, control unit, etc., integrated into the terminal. For details, please refer to... Figure 4The device 100 may include an input module 120, a planning module 140, an adjustment module 160, and an output module 180. The input module 120 is used to acquire initial motion data of the movable component in the magnetic drive conveyor system, the initial motion data including at least one of a starting position, an ending position, a maximum acceleration limit, a maximum speed limit, and jerk. The planning module 140 is used to determine the number of stages and the total motion time of the motion plan based on the initial motion data of the movable component using a multi-stage curve motion planning algorithm. The adjustment module 160 is used to acquire a set time, and using the set time, the number of stages of the motion plan, and the total motion time as constraints, determine the adjusted motion data of the movable component according to different numbers of stages in the motion plan. The output module 180 is used to obtain a complete motion curve segment of the movable component based on the adjusted motion data, perform interpolation processing on the complete motion curve segment according to a preset interpolation trigger condition to generate motion control data, and send the motion control data to the movable component to control the movable component to complete the displacement from the starting position to the ending position within a set motion duration.

[0137] Each module in the motion planning device of the aforementioned movable component can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0138] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When executed by the processor, the computer program implements a motion planning method for a movable component.

[0139] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0140] Based on the foregoing description of the relevant methods and apparatus embodiments, this disclosure also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the motion planning method for the movable component described in any embodiment of this specification.

[0141] Based on the foregoing description of the relevant methods and apparatus embodiments, this disclosure also provides a computer-readable storage medium that, when the instructions in the computer-readable storage medium are executed by the processor of a computer device, enables the computer device to implement the motion planning method for a movable component as described in any embodiment of this disclosure.

[0142] Based on the foregoing description of the relevant methods and apparatus embodiments, this disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the motion planning method for a movable component as described in any embodiment of this specification.

[0143] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are relatively simple in description because they are fundamentally similar to method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0144] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0145] It should be noted that the apparatus, computer equipment, storage medium, and computer program products described above may also include other implementation methods according to the description of the method embodiments. Specific implementation methods can be found in the description of the relevant method embodiments. Furthermore, new embodiments formed by combinations of features from various methods, apparatuses, devices, and server embodiments still fall within the scope of this disclosure and will not be elaborated upon here.

[0146] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, when implementing one or more of these specifications, the functions of each module can be implemented in the same or different software and / or hardware, or a module that performs the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling and communication connections between the devices or units shown or described can be implemented through direct and / or indirect coupling / connection, through standard or custom interfaces or protocols, and can be implemented electrically, mechanically, or in other forms.

[0147] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0148] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A motion planning method for a movable component, characterized in that, Applied to magnetic drive conveyor systems, the method includes: Acquire initial motion data of movable components in a magnetic drive conveyor system, wherein the initial motion data includes at least one of the following: starting position, ending position, maximum acceleration limit, maximum speed limit, and jerk. Based on the multi-stage curve motion planning algorithm, the number of stages and the total motion time are determined according to the initial motion data of the movable component. Obtain a set time, and use the set time, the number of stages in the motion plan, and the total motion time as constraints. Determine the adjusted motion data of the movable component based on the different numbers of stages in the motion plan. Based on the adjusted motion data, a complete motion curve segment of the movable component is obtained. The complete motion curve segment is interpolated according to a preset interpolation trigger condition to generate motion control data. The motion control data is sent to the movable component to control the movable component to complete the displacement from the starting position to the ending position within a set motion duration.

2. The method according to claim 1, characterized in that, The multi-stage curve motion planning algorithm determines the number of stages and the total motion time based on the initial motion data of the movable component, including: Determine the total distance of motion of the movable component, which is the difference between the absolute value of the endpoint position and the starting position, and determine the displacement of the acceleration segment and the displacement of the uniform acceleration segment. Based on the relationship between the total distance of motion and the first distance and the second distance, and combined with the relationship between the maximum speed limit and the first speed, the number of stages of motion planning is determined; The first distance is twice the sum of the acceleration segment displacement and the deceleration segment displacement; the second distance is twice the sum of the acceleration segment displacement, the deceleration segment displacement, and the uniform acceleration segment displacement; and the first velocity is the square of the maximum acceleration limit divided by the jerk.

3. The method according to claim 2, characterized in that, The step of determining the number of stages in motion planning based on the relationship between the total distance of motion and the first and second distances, combined with the relationship between the maximum speed limit and the first speed, includes: In response to detecting that the total distance of motion is less than or equal to the first distance, the number of stages in the motion planning is four. In response to detecting that the total distance of motion is greater than the first distance and the maximum speed limit is less than or equal to the first speed, the number of stages in motion planning is five. In response to detecting that the total distance of motion is greater than the first distance and less than or equal to the second distance, and that the maximum speed limit is greater than the first speed, the number of motion planning stages is six. In response to detecting that the total distance of motion is greater than the second distance and the maximum speed limit is greater than the first speed, the number of stages in motion planning is seven.

4. The method according to claim 3, characterized in that, Determining the adjusted motion data of the movable component based on the different numbers of stages in the motion planning includes: The number of stages in response to motion planning is four, adjusting the maximum speed limit, maximum acceleration limit, and jerk.

5. The method according to claim 3, characterized in that, The step of determining the adjusted motion data of the movable component based on the different numbers of stages in the motion planning also includes: In response to the planned number of segments being five, the jerk is kept constant while the constant velocity time, maximum speed, and maximum acceleration are adjusted. In response to the planned number of segments being six, the maximum acceleration and jerk are fixed and kept constant, while the uniform acceleration time and maximum speed are adjusted. In response to the planned number of segments being seven, the maximum acceleration and jerk are fixed and kept constant, while the uniform acceleration time, uniform speed time, and maximum speed limit are adjusted.

6. The method according to claim 1, characterized in that, The process of obtaining a complete motion curve segment of the movable component based on the adjusted motion data, performing interpolation processing on the complete motion curve segment according to a preset interpolation trigger condition to generate motion control data, sending the motion control data to the movable component, and controlling the movable component to complete the displacement from the starting position to the ending position within a set motion duration includes: The complete motion curve segment of the movable component is obtained based on the adjusted motion data; Interpolation processing is performed on the complete motion curve segment according to the control accuracy requirements of the magnetic drive conveyor system and / or the motion characteristics of the movable components, based on the pre-configured interpolation trigger conditions. The interpolation processing includes the process of generating continuous motion control sub-data that satisfies the continuous change characteristics of the motion parameters of the complete motion curve segment between adjacent motion planning nodes, based on at least one motion parameter among the position, velocity, acceleration, and jerk of the complete motion curve segment. Motion control data is generated and sent to the movable component, which is then controlled to complete the displacement from the starting position to the ending position within a set motion duration.

7. A motion planning device for a movable component, characterized in that, The device includes: The input module is used to acquire the initial motion data of the movable component in the magnetic drive conveyor system. The initial motion data includes at least one of the following: starting position, ending position, maximum acceleration limit, maximum speed limit, and jerk. The planning module is used to determine the number of stages and the total motion time of the motion planning based on the initial motion data of the movable component, using a multi-stage curve motion planning algorithm. An adjustment module is used to acquire a set time, and, using the set time, the number of stages in the motion plan, and the total motion time as constraints, determine the adjusted motion data of the movable component based on different situations of the number of stages in the motion plan. The output module is used to obtain the complete motion curve segment of the movable component based on the adjusted motion data, perform interpolation processing on the complete motion curve segment according to the preset interpolation trigger conditions to generate motion control data, send the motion control data to the movable component, and control the movable component to complete the displacement from the starting position to the ending position within a set motion duration.

8. A computer device, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program thereon, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

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