Driving control system of rail shuttling trolley, rail shuttling trolley and walking system

Abstract

The utility model provides a driving control system of a rail shuttling trolley, the rail shuttling trolley and a walking system.The driving control system of the rail shuttling trolley comprises a motion controller and a walking driving assembly, and the walking driving assembly comprises at least one walking driving unit; wherein each walking driving unit comprises a walking driver which is connected with the motion controller; each walking motor is connected with the walking driver, each walking motor is used for driving one driving walking wheel set, and N is larger than or equal to 1; and the walking driver receives the walking control parameters sent by the motion controller and controls the walking motors connected with the walking driver to operate synchronously based on the walking control parameters, so that all the walking motors operate synchronously to drive the rail shuttling trolley to move to a target position along the rail.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of material transportation, in particular to a driving control system of a rail shuttle trolley, a rail shuttle trolley and a walking system. BACKGROUND

[0002] In the current logistics system, the rail shuttle trolley designed for long-specification materials must have a length matched with the size of the transported materials. However, when facing the transportation demand of materials of various lengths, there are two solutions in the prior art. The first solution is to design a trolley based on the longest material size, which can meet the transportation demand of materials of all lengths, but when transporting short materials, it will cause energy waste and low transportation efficiency, and the structural design of such an overlong trolley is complex, increasing the manufacturing cost. The second solution is to design different trolleys for materials of each length, which can improve the flexibility and efficiency of transportation, but it requires the purchase of more trolleys, thereby greatly increasing the cost. SUMMARY

[0003] Therefore, the present application provides a solution, which adopts modular design for the rail shuttle trolley to flexibly adapt to the transportation demand of materials of different lengths.

[0004] In a first aspect, the present application provides a driving control system of a rail shuttle trolley, which comprises a motion controller and a walking driving assembly, the walking driving assembly comprising at least one walking driving unit, wherein each walking driving unit comprises:

[0005] a walking driver connected with the motion controller;

[0006] N walking motors, each connected with the walking driver, and N≥1;

[0007] Each walking driver receives the walking control parameters sent by the motion controller, and controls the walking motors connected therewith to operate synchronously based on the walking control parameters, so that all the walking motors operate synchronously to drive the rail shuttle trolley to move along the track to a target position.

[0008] Optionally, each walking driving unit comprises a driving motor configured with an HTL encoder; and the walking driving assembly further comprises a real-time distance measuring device connected with the walking driver.

[0009] Optionally, the driving control system of the rail shuttle trolley further comprises a lifting driving assembly, the lifting driving assembly comprising at least one lifting driving unit, wherein each lifting driving unit comprises:

[0010] a lifting driver connected with the motion controller;

[0011] a lifting motor connected with a lifting driver of the lifting driving unit;

[0012] Each of the lifting drivers receives lifting control parameters sent by the motion controller and controls the lifting motor connected therewith to operate based on the lifting control parameters, so that all the lifting motors operate synchronously to drive the goods to move in the vertical direction.

[0013] Optionally, the driving control system of the rail shuttle trolley further comprises a translation driving assembly, the translation driving assembly comprising at least one translation driving unit, wherein each of the translation driving units comprises:

[0014] a translation driver connected with the motion controller;

[0015] a translation motor connected with a translation driver of the translation driving unit;

[0016] Each of the translation drivers receives translation control parameters sent by the motion controller and controls the translation motor connected therewith to operate based on the translation control parameters, so that all the translation motors operate synchronously to drive the goods to move in the horizontal direction perpendicular to the rail.

[0017] Optionally, the translation driver and the lifting driver are servo drivers, and the walking driver is a frequency converter.

[0018] In a second aspect, the present application provides a rail shuttle trolley comprising a trolley body and the driving control system according to any one of the first aspect, wherein the trolley body is provided with a connection assembly for detachably connecting any two trolley bodies.

[0019] In a third aspect, the present application provides a system comprising an upper controller and N rail shuttle trolleys according to the second aspect, N≥2, wherein the motion controller of each of the rail shuttle trolleys is connected with the upper controller, and the motion controller of any rail shuttle trolley can be connected with the motion controller of the remaining rail shuttle trolleys.

[0020] Optionally, when a plurality of rail shuttle trolleys are connected, the upper controller determines one of the plurality of rail shuttle trolleys as a master and the remaining rail shuttle trolleys as slaves.

[0021] The upper controller sends the whole-machine motion control parameters to the motion controller of the master.

[0022] The motion controller of the host obtains motion control parameters of each motion mechanism of the host according to the whole-machine motion control parameters, and outputs the motion control parameters of each motion mechanism of the host to corresponding driving components; and the motion controller of each slave machine obtains current motion parameters of each motion mechanism of the host in real time, and sends the parameters to corresponding driving components in real time.

[0023] Optionally, the current motion parameters of each motion mechanism of the host at least include current position values, speed values and acceleration values of each motion mechanism of the host.

[0024] Optionally, the current motion parameters of each motion mechanism of the host are given values of the current motion parameters of each motion mechanism of the host.

[0025] As can be seen from the above technical solutions, each rail shuttle vehicle of the present application is an independent and fully functional transport module. The modular design enables the rail shuttle vehicles to be flexibly combined through specific connecting components, thereby adapting to different lengths of material transport requirements. This not only improves the flexibility and efficiency of transportation, but also greatly reduces the cost of replacing the entire vehicle due to changes in material length. BRIEF DESCRIPTION OF DRAWINGS

[0026] The following drawings are only illustrative and explanatory of the present application, and do not limit the scope of the present application.

[0027] Figure 1 FIG. 1 is a schematic diagram of a driving control system of a rail shuttle vehicle according to an exemplary embodiment of the present application.

[0028] Figure 2 FIG. 2 is a schematic diagram of a driving control system of a rail shuttle vehicle according to another exemplary embodiment of the present application.

[0029] Figure 3 FIG. 3 is a schematic diagram of a driving control system of a rail shuttle vehicle according to another exemplary embodiment of the present application.

[0030] Figure 4 FIG. 4 is a control flowchart of a walking system.

[0031] LIST OF REFERENCE NUMBERS

[0032] 11: motion controller;

[0033] 12: walking driving component;

[0034] 121: walking driving unit;

[0035] 1211: walking driver;

[0036] 1212: walking motor;

[0037] 13: lifting drive assembly;

[0038] 131: lifting drive unit;

[0039] 1311: lifting driver;

[0040] 1312: lifting motor;

[0041] 14: translation drive assembly;

[0042] 141: translation drive unit;

[0043] 1411: translation driver;

[0044] 1412: translation motor;

[0045] 50: upper controller;

[0046] 60-1: master;

[0047] 60-2: slave;

[0048] 621: walking main shaft;

[0049] 622: gear synchronization;

[0050] 623: walking slave shaft 1-n;

[0051] 631: lifting main shaft;

[0052] 632: gear synchronization;

[0053] 633: lifting slave shaft 1-n;

[0054] 641: translation main shaft;

[0055] 642: gear synchronization;

[0056] 643: translation slave shaft 1-n;

[0057] 701: whether to select rail shuttle car 1 to run;

[0058] 702: whether to select rail shuttle cars 1 and 2 to run synchronously;

[0059] 703: whether to select rail shuttle car 2 to run;

[0060] 704: current motion parameters of the walking main shaft of rail shuttle car 1;

[0061] 705: current motion parameters of the lifting main shaft of rail shuttle car 1;

[0062] 706: current motion parameters of the translation main shaft of rail shuttle car 1;

[0063] 707: Walking guide shaft proxy signal input of rail shuttle 2;

[0064] 708: Lifting guide shaft proxy signal input of rail shuttle 2;

[0065] 709: Translational guide shaft proxy signal input of rail shuttle 2;

[0066] 710: Cross-CPU synchronization; DETAILED DESCRIPTION

[0067] In order to make personnel in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application should belong to the scope of protection of the present application.

[0068] In this document, "illustrative" means "serving as an example, instance, or illustration," and should not necessarily be construed as preferred or advantageous over other embodiments.

[0069] Some embodiments of the present application will be described below in conjunction with the drawings. Each of the following embodiments and features in the embodiments can be combined with each other in the case of no conflict. The steps in each of the following method embodiments are only for exemplary description, and are not intended to limit the present application.

[0070] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described below with reference to the drawings, and the same reference numerals in the drawings represent the same or similar components with the same function.

[0071] In order to make the drawings simple, only the parts related to the present application are shown in the drawings, which do not represent the actual structure of the product.

[0072] In the current logistics system, the rail shuttle car designed for long material must match the size of the transported material. But when facing the transportation needs of materials of various length specifications, there are two solutions in the prior art. The first is to design a car based on the longest material size, which can meet the transportation needs of all lengths, but when transporting short materials, it will cause energy waste and low transportation efficiency, and the structure design of such an overlong vehicle is complex, increasing the manufacturing cost. The second is to design different cars for each length of material, which can improve the flexibility and efficiency of transportation, but it requires the purchase of more cars, thereby greatly increasing the cost.

[0073] The schemes provided by the embodiments of the present application will be described in detail below with reference to the drawings.

[0074] Example 1

[0075] Embodiment 1 provides a driving control system of a rail shuttle car.

[0076] As shown in Figure 1 The driving control system of the rail shuttle car includes a motion controller 11 and a walking driving assembly 12, and the walking driving assembly 12 includes at least one walking driving unit 121, wherein each walking driving unit 121 includes a walking driver 1211 and at least one walking motor 1212, and each walking motor 1212 drives a driving walking wheel set. It can be understood that a driving walking wheel set can be a walking wheel or can include multiple walking wheels. Each walking driver 1211 is connected to the motion controller 11, and each walking motor 1212 is connected to the walking driver 1211 of the unit to which it belongs. The motion controller 11 sends walking control parameters to each walking driver 1211, and each walking driver 1211 controls each walking motor 1212 connected thereto to operate synchronously according to these parameters. Since all walking motors 1212 of a walking driving unit are connected to the walking driver 1211 and are uniformly controlled by the walking driver 1211, the synchronous operation of the walking wheel set of the same walking driving unit can be ensured. The motion controller 11 synchronously controls each walking driver 1211, so that all walking wheels operate synchronously, ensuring that the car can move smoothly and accurately along the track to the designated position, thereby ensuring the stability of the car during operation.

[0077] In actual application, multiple walking driving units 121 can be flexibly configured according to the length of the rail shuttle car and the weight of the load carried by the rail shuttle car. This design not only provides redundancy and reliability of walking control, but also ensures the stability of translation under different loads and working conditions.

[0078] In the illustrative embodiment including more than two walking driving units, one of the walking driving units is determined as a master walking driving unit, and the rest are determined as slave walking driving units, each of which is configured to move synchronously with the master walking driving unit. In this way, the motion controller 11 can precisely control the synchronization of each walking driving unit, but is not limited thereto.

[0079] In the illustrative embodiment, the motion controller controls the synchronization of each slave walking driving unit with the master walking driving unit through a gear.

[0080] In one embodiment, each of the walking driving units 121 includes a driving motor equipped with an HTL encoder. For example, the walking driving unit 121 includes two walking motors 1212, one of which is equipped with an HTL encoder for speed closed-loop control. Each walking driving unit 121 is equipped with only one motor with an HTL encoder, which meets the control requirements and saves costs.

[0081] When the walking wheels slip on the rails, the walking motors may still be rotating, but the actual displacement of the trolley does not change. In this case, the HTL encoder cannot provide effective feedback. To solve this problem, in one embodiment, the walking driving assembly 12 further includes a real-time distance measuring device, such as a laser range finder. The real-time distance measuring device is used for position closed-loop control of the walking driving unit to ensure accurate measurement of the actual displacement of the trolley even in the case of slipping.

[0082] For example, the real-time distance measuring device is connected to the walking driving unit of the walking driving unit, thereby realizing position closed-loop control, but is not limited thereto.

[0083] To improve the carrying efficiency, in some embodiments, the rail shuttle trolley also has a lifting device for moving the goods in the vertical direction, which is driven by a lifting driving assembly 13. The lifting driving assembly 13 includes at least one lifting driving unit 131, each of which includes a lifting driving device 1311 and a lifting motor 1312 connected thereto. The lifting driving device 1311 is connected to the motion controller 11, and each lifting driving device 1311 receives lifting control parameters from the motion controller 11 and controls the operation of the lifting motor 1312 connected thereto according to these parameters, as shown. Figure 2

[0084] ​In practical applications, multiple lifting driving units 131 can be flexibly configured according to the length of the rail shuttle vehicle and the weight of the load carried thereby. The lifting driver 1311 of each lifting driving unit 131 receives the lifting control parameters from the motion controller 11 and drives the lifting motor 1312 connected thereto according to the lifting control parameters, thereby achieving multi-axis synchronous control. This design not only provides redundancy and reliability of lifting control, but also ensures lifting stability under different loads and working conditions.

[0085] Synchronization is crucial when carrying goods in the vertical direction. If the individual lifting motors 1312 cannot operate synchronously, it may cause the goods to tilt or sway, which not only affects the stability of lifting, but also may cause damage to the goods. In the present embodiment, the motion controller 11 precisely controls the synchronization of each lifting driver 1311, ensuring that all lifting motors 1312 operate synchronously, thereby achieving the stability and safety of the lifting process of the goods.

[0086] In the illustrative embodiment, one of the multiple lifting driving units 131 is determined as the master lifting driving unit, and the rest are determined as slave lifting driving units. Each slave lifting driving unit is configured to move synchronously with the master lifting driving unit. In this way, the motion controller 11 precisely controls the synchronization of each lifting driver 1311, but is not limited thereto.

[0087] In the illustrative embodiment, the driver of the master lifting driving unit serves as the master lifting driver, and the drivers of the other lifting driving units serve as slave lifting drivers. The master lifting driver receives the lifting control parameters from the motion controller and controls the operation of the lifting motor connected thereto according to the parameters. Each slave lifting driver receives the lifting control parameters of the master lifting driver from the motion controller and controls the lifting motor connected thereto according to the parameters, thereby achieving synchronous movement of the individual lifting motors.

[0088] To further improve the carrying efficiency, in some embodiments, the rail shuttle vehicle also has a translation device capable of moving the goods in a horizontal direction perpendicular to the rail, such as a retractable fork assembly, which is driven by a translation driving assembly 14. The translation device and the lifting device cooperate to complete the access of the goods to the designated shelf. The translation driving assembly 14 includes at least one translation driving unit 141, each of which includes a translation driver 1411 and a translation motor 1412 connected thereto. The translation driver 1411 is connected to the motion controller 11, and each translation driver 1411 receives translation control parameters from the motion controller 11 and controls the operation of the translation motor 1412 connected thereto according to the parameters, as shown in Figure 3 .

[0089] In actual applications, multiple translation driving units 141 can be flexibly configured according to the length of the rail shuttle and the weight of the load carried thereby. The translation driver 1411 of each translation driving unit 141 receives the translation control parameters from the motion controller 11 and drives the corresponding translation motor 1412 according to the translation control parameters, thereby achieving multi-axis synchronous control. This design not only provides redundancy and reliability of translation control, but also ensures translation stability under different loads and working conditions.

[0090] In an illustrative embodiment, one of the multiple translation driving units 141 is determined as a master translation driving unit, and the rest are determined as slave translation driving units, each of which is configured to move synchronously with the master translation driving unit. In this way, the motion controller 11 can accurately control the synchronization of each translation driver 1411, but is not limited thereto.

[0091] In an illustrative embodiment, the driver of the master translation driving unit is the master translation driver, and the drivers of the other translation driving units are slave translation drivers. The master translation driver receives the translation control parameters from the motion controller and controls the movement of the translation motor connected thereto according to the parameters. Each slave translation driver receives the translation control parameters of the master translation driver from the motion controller and controls the translation motor connected thereto according to the parameters, thereby achieving synchronous movement of each translation motor.

[0092] In an illustrative embodiment, the translation driver 1411 and the lifting driver 1311 are servo drivers, and the walking driver 1211 is a frequency converter.

[0093] For the rail shuttle running along the track, the control requirement for the position accuracy of the rail shuttle is not high, so a low-cost frequency converter is used as the driver. The frequency converter can control the speed and direction of the motor, meet the demand of stable and continuous operation of the rail shuttle on the track, and reduce the cost of the overall system. The lifting device and the translation device cooperate to complete the loading and unloading of goods on the target shelf, and the control requirement for the position accuracy and speed accuracy is higher, so a servo driver capable of accurately controlling the position, speed and acceleration of the motor is used, thereby ensuring the accuracy and stability of the goods storage and retrieval.

[0094] The selection strategy of the type of driver in the embodiment not only takes into account the cost-effectiveness, but also meets the control accuracy requirement.

[0095] Example 2

[0096] The embodiment 2 provides a rail shuttle trolley, which comprises a trolley body and the driving control system in the embodiment 1. The trolley body is provided with connecting assemblies, which allow a user to flexibly combine multiple rail shuttle trolleys according to requirements, so as to adapt to material transportation requirements of different lengths.

[0097] For example, if the length of each rail shuttle trolley is fixed as 15 meters, a single device is sufficient to transport materials with a length of not more than 15 meters. When two rail shuttle trolleys are connected through the connecting assemblies, the transportation capacity is improved to the range of 15 to 30 meters of materials. Similarly, when three trolleys are connected, the transportation task of 30 to 45 meters of materials can be accomplished, and so on.

[0098] In the embodiment, each rail shuttle trolley is an independent and complete transportation module, and the modular design allows the rail shuttle trolleys to be flexibly combined through specific connecting assemblies, so as to adapt to material transportation requirements of different lengths, thereby improving the flexibility and efficiency of transportation and greatly reducing the cost of replacing the entire trolley due to the change of the length of materials.

[0099] Example 3

[0100] The embodiment 3 provides a walking system, which comprises an upper controller and the rail shuttle trolleys in the embodiment 2, the motion controller 11 of each rail shuttle trolley is connected with the upper controller, and the motion controller 11 of any rail shuttle trolley can be connected with the motion controller 11 of the remaining rail shuttle trolleys.

[0101] When multiple rail shuttle trolleys are connected, the upper controller determines one of the multiple rail shuttle trolleys as a master and the remaining rail shuttle trolleys as slaves.

[0102] The upper controller sends the whole-machine motion control parameters to the motion controller of the master, the motion controller of the master obtains the local-machine motion control parameters according to the whole-machine motion control parameters, and outputs the local-machine motion control parameters to the driver of the corresponding motion mechanism of the local machine. The motion controller of each slave obtains the current motion parameters of each motion mechanism of the master in real time, and sends the parameters to the corresponding driver connected therewith in real time, so that the synchronous motion between the master and the slaves is realized.

[0103] In an embodiment, the current motion parameters of each motion mechanism of the master at least comprise the current position value, the speed value and the acceleration value of each motion mechanism of the master.

[0104] The current motion parameters of the motion mechanisms of the host machine can be given values of the current motion parameters of the motion mechanisms of the host machine, such as speed given values, position given values, etc., or can be actual values of the motion parameters of the main driving units of the motion mechanisms of the host machine obtained in real time, such as actual speed values, actual position values, etc.

[0105] Further, in order to reduce the asynchronization between the host machine and the slave machine caused by communication time delay, in a specific embodiment based on the present embodiment, the current motion parameters of the motion mechanisms of the host machine are given values of the current motion parameters of the motion mechanisms of the host machine. Since the given values do not need to wait for feedback of the actual values, the slave machine can respond and execute the motion instructions more quickly. By using this way, the synchronization between the host machine and the slave machine can be improved, so that they can work more closely in cooperation.

[0106] Figure 4 A control flowchart for connecting two rail shuttles together for synchronous control of material transportation is shown for example. The upper controller determines one of the rail shuttles as the host machine 60-1 and the other as the slave machine 60-2. The upper controller sends the whole machine motion control parameters to the motion controller of the host machine, the motion controller of the host machine obtains the local machine motion control parameters according to the whole machine motion control parameters, and controls the walking shafts, the lifting shafts and the fork shafts in synchronization according to the local machine motion control parameters. The motion controller of the slave machine obtains the current motion parameters of the motion mechanisms of the host machine in real time through the cross-CPU synchronization function, specifically including the given values of the current motion parameters of the walking main shaft, the given values of the current motion parameters of the lifting main shaft and the given values of the current motion parameters of the translation main shaft, and sends them to the corresponding drivers respectively, so as to realize the synchronous control of the motion mechanisms of the two rail shuttles.

[0107] The terms and pronouns referring to a person in this patent application are not limited to a specific gender.

[0108] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

[0109] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present application, and are not used to limit the protection scope of the present application, and any equivalent embodiments or changes made without departing from the spirit of the present application, such as combination, division or repetition of features, should be included in the protection scope of the present application.

Claims

1. A drive control system for a rail-guided shuttle vehicle, characterized in that, It includes a motion controller (11) and a walking drive assembly (12), the walking drive assembly (12) includes at least one walking drive unit (121), wherein each walking drive unit (121) includes: A walking driver (1211) connected with the motion controller (11); N walking motors (1212), each connected with the walking driver (1211), each walking motor (1212) is used to drive an active walking wheel set, N≥1; Each walking driver (1211) receives the walking control parameters sent by the motion controller (11), and controls the walking motor (1212) connected therewith to operate synchronously based on the walking control parameters, so that all walking motors (1212) operate synchronously to drive the rail shuttle car to move along the track to the target position.

2. The drive control system of the rail shuttles according to claim 1, characterized in that Each walking drive unit (121) includes a drive motor configured with an HTL encoder; and the walking drive assembly (12) further includes a real-time distance measuring device connected with the walking driver (1211).

3. The drive control system of the rail shuttles according to claim 1, characterized in that The driving control system of the rail shuttle car further includes a lifting drive assembly (13), the lifting drive assembly (13) includes at least one lifting drive unit (131), wherein each lifting drive unit (131) includes: A lifting driver (1311) connected with the motion controller (11); A lifting motor (1312) connected with the lifting driver (1311) of the lifting drive unit (131) to which it belongs; Each lifting driver (1311) receives the lifting control parameters sent by the motion controller (11), and controls the lifting motor (1312) connected therewith to operate based on the lifting control parameters, so that all lifting motors (1312) operate synchronously to drive the goods to move in the vertical direction.

4. The drive control system of the rail shuttles according to claim 3, characterized in that The driving control system of the rail shuttle car further includes a translation drive assembly (14), the translation drive assembly (14) includes at least one translation drive unit (141), wherein each translation drive unit (141) includes: A translation driver (1411) connected with the motion controller (11); A translation motor (1412) connected with the translation driver (1411) of the translation drive unit (141) to which it belongs; Each translation driver (1411) receives the translation control parameters sent by the motion controller (11), and controls the translation motor (1412) connected therewith to operate based on the translation control parameters, so that all translation motors (1412) operate synchronously to drive the goods to move in the horizontal direction perpendicular to the track.

5. The drive control system of the rail shuttles according to claim 4, characterized in that The translation driver (1411) and the lifting driver (1311) are servo drivers, and the walking driver (1211) is a frequency converter.

6. A rail shuttle comprising: It includes a vehicle body and the driving control system according to any one of claims 1-5, and a connection assembly is arranged on the vehicle body for detachable connection of any two vehicle bodies.

7. A walking system characterized by, The system comprises an upper controller (50) and N rail shuttles as claimed in claim 6, N≥2, the motion controller (11) of each rail shuttle is connected with the upper controller (50), and the motion controller (11) of any rail shuttle can be connected with the motion controller (11) of the rest rail shuttles.

8. The walking system of claim 7, wherein, When the rail shuttles are connected, the upper controller (50) determines one of the rail shuttles as master and the rest as slaves. The upper controller (50) sends the whole-machine motion control parameters to the motion controller (11) of the master. The motion controller (11) of the master obtains the motion control parameters of each motion mechanism of the master according to the whole-machine motion control parameters, and outputs the motion control parameters of each motion mechanism of the master to the corresponding drive assembly; and the motion controller (11) of each slave obtains the current motion parameters of each motion mechanism of the master in real time, and sends the parameters to the corresponding drive assembly in real time.

9. The walking system of claim 8, wherein, The current motion parameters of each motion mechanism of the master at least include the current position value, speed value and acceleration value of each motion mechanism of the master.

10. The walking system of claim 9, wherein, The current motion parameters of each motion mechanism of the master are given values of the current motion parameters of each motion mechanism of the master.

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