CN112039981A - Transmission speed control method, device, equipment and medium - Google Patents
Transmission speed control method, device, equipment and medium Download PDFInfo
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- CN112039981A CN112039981A CN202010883834.7A CN202010883834A CN112039981A CN 112039981 A CN112039981 A CN 112039981A CN 202010883834 A CN202010883834 A CN 202010883834A CN 112039981 A CN112039981 A CN 112039981A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0002—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission rate
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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Abstract
The application discloses a transmission speed control method, a device, equipment and a medium, which belong to the technical field of control, wherein the method comprises the steps of obtaining the transmission state of a transmission track behind a target object if the target object is determined to be positioned at an initial position; screening out idle transmission tracks meeting preset screening conditions according to the transmission state of each transmission track; if the number of the screened idle transmission tracks is at least one, determining a total transmission distance according to the track length corresponding to the screened idle transmission tracks; determining a corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance and a preset acceleration and deceleration model; and controlling the idle transmission tracks to accelerate and decelerate according to the corresponding relation, so that the target object reaches a preset initial speed after being transmitted from the initial position to the outlet of the last idle transmission track screened out. Therefore, the transmission speed can be controlled to be maximized and the transmission efficiency can be improved while the track blockage is avoided according to the idle transmission track.
Description
Technical Field
The present application relates to the field of control technologies, and in particular, to a transmission speed control method, apparatus, device, and medium.
Background
With the development of internet of things technology, target objects (e.g., test tube racks, samples) can be generally transmitted through a transmission system including a plurality of transmission tracks.
In the prior art, a target object is generally transferred in a manner that all transfer tracks are controlled in a unified manner, or each transfer track is controlled individually. The unified control means that the transmission speeds of all the transmission tracks are the same, so that the transmission tracks synchronously run.
However, if all the transfer tracks are controlled as a whole, the target object cannot be cached during the transfer, which may cause the tracks to be jammed. If each transfer track is individually controlled, the transfer speed of the target object is low.
Thus, there is a need for a transfer speed control scheme that can avoid track jams and increase transfer speed.
Disclosure of Invention
The embodiment of the application provides a transmission speed control method, a transmission speed control device, transmission speed control equipment and a transmission speed control medium, which are used for avoiding track blockage and improving the transmission speed when transmission speed control is carried out on a transmission track.
In one aspect, a method for controlling a transfer speed is provided, which is applied to a transfer system including a plurality of transfer tracks, and includes:
if the target object is located at the initial position, acquiring the transmission state of a transmission track behind the target object;
screening out idle transmission tracks meeting preset screening conditions according to the transmission state of each transmission track;
if the number of the screened idle transmission tracks is at least one, determining a total transmission distance according to the track length corresponding to the screened idle transmission tracks;
determining a corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance and a preset acceleration and deceleration model, wherein the preset acceleration and deceleration model comprises an acceleration stage and a deceleration stage, and the transmission speed corresponding to the total transmission distance is a preset initial speed;
and controlling the idle transmission tracks to accelerate and decelerate according to the corresponding relation, so that the target object reaches a preset initial speed after being transmitted from the initial position to the outlet of the last idle transmission track screened out.
Preferably, further comprising:
and if the number of the screened idle transmission tracks is zero, controlling the target object to wait at the initial position until determining that the idle transmission tracks meeting the preset screening condition exist, and executing the step of determining the total transmission distance according to the track length corresponding to the screened idle transmission tracks.
Preferably, the determining that the target object is located at the start position includes:
and if the transmission speed of the target object is the preset initial speed and the position of the target object is the non-ending position, determining the current position of the target object as the current initial position.
Preferably, the method of screening out the idle transmission tracks meeting the preset screening condition according to the transmission state of each transmission track includes:
if the non-idle transmission track exists, determining a first non-idle transmission track behind the target object and an idle transmission track between the target object as an idle transmission track meeting a preset screening condition;
and if the non-idle transmission track does not exist, determining each transmission track behind the target object as an idle transmission track meeting the preset screening condition.
Preferably, determining the corresponding relationship between the transmission speed and the transmission distance of the target object according to the total transmission distance and a preset acceleration/deceleration model includes:
determining a corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance, the first preset acceleration and the second preset acceleration;
the first preset acceleration is used for acceleration, and the second preset acceleration is used for deceleration.
In one aspect, there is provided a transmission speed control apparatus comprising:
the acquisition unit is used for acquiring the transmission state of the transmission track behind the target object if the target object is determined to be positioned at the initial position;
the screening unit is used for screening out the idle transmission tracks meeting the preset screening conditions according to the transmission state of each transmission track;
the first determining unit is used for determining the total transmission distance according to the track length corresponding to the screened idle transmission tracks if the number of the screened idle transmission tracks is at least one;
the second determining unit is used for determining the corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance and a preset acceleration and deceleration model, wherein the preset acceleration and deceleration model comprises an acceleration stage and a deceleration stage, and the transmission speed corresponding to the total transmission distance is a preset initial speed;
and the control unit is used for controlling the acceleration and deceleration of the idle transmission tracks according to the corresponding relation, so that the target object is transmitted to the outlet of the last idle transmission track screened from the initial position and then reaches the preset initial speed.
Preferably, the first determination unit is further configured to:
and if the number of the screened idle transmission tracks is zero, controlling the target object to wait at the initial position until determining that the idle transmission tracks meeting the preset screening condition exist, and executing the step of determining the total transmission distance according to the track length corresponding to the screened idle transmission tracks.
Preferably, the obtaining unit is configured to:
and if the transmission speed of the target object is the preset initial speed and the position of the target object is the non-ending position, determining the current position of the target object as the current initial position.
Preferably, the screening unit is configured to:
if the non-idle transmission track exists, determining a first non-idle transmission track behind the target object and an idle transmission track between the target object as an idle transmission track meeting a preset screening condition;
and if the non-idle transmission track does not exist, determining each transmission track behind the target object as an idle transmission track meeting the preset screening condition.
Preferably, the second determination unit is configured to:
determining a corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance, the first preset acceleration and the second preset acceleration;
the first preset acceleration is used for acceleration, and the second preset acceleration is used for deceleration.
In one aspect, there is provided a control apparatus comprising:
at least one memory for storing program instructions;
at least one processor for calling the program instructions stored in the memory and executing the steps of any of the above-mentioned transmission speed control methods according to the obtained program instructions.
In one aspect, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of any of the transmission speed control methods described above.
In a method, an apparatus, a device, and a medium for controlling a transmission speed provided in an embodiment of the present application, if it is determined that a target object is located at an initial position, a transmission state of a transmission track behind the target object is obtained; screening out idle transmission tracks meeting preset screening conditions according to the transmission state of each transmission track; if the number of the screened idle transmission tracks is at least one, determining a total transmission distance according to the track length corresponding to the screened idle transmission tracks; determining a corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance and a preset acceleration and deceleration model, wherein the preset acceleration and deceleration model comprises an acceleration stage and a deceleration stage, and the transmission speed corresponding to the total transmission distance is a preset initial speed; and controlling the idle transmission tracks to accelerate and decelerate according to the corresponding relation, so that the target object reaches a preset initial speed after being transmitted from the initial position to the outlet of the last idle transmission track screened out. Therefore, the transmission speed can be controlled to be maximized and the transmission efficiency can be improved while the track blockage is avoided according to the idle transmission track.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic diagram of a transmission system according to an embodiment of the present application;
fig. 2 is a flowchart illustrating an implementation of a transmission speed control method according to an embodiment of the present disclosure;
FIG. 3a is an exemplary plot of a triangular velocity profile in an embodiment of the present application;
FIG. 3b is an exemplary graph of a trapezoidal velocity profile in an embodiment of the present application;
fig. 4 is a flowchart illustrating a detailed implementation of a transmission speed control method according to an embodiment of the present disclosure;
FIG. 5a is a first flowchart of a speed control method according to an embodiment of the present disclosure;
FIG. 5b is a flowchart of a speed control method according to an embodiment of the present disclosure;
fig. 5c is a flowchart of a speed control method according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a transmission speed control apparatus according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a control device in an embodiment of the present application.
Detailed Description
In order to make the purpose, technical solution and beneficial effects of the present application more clear and more obvious, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In order to avoid track blockage and improve the transmission speed when the transmission speed of a transmission track is controlled, the embodiment of the application provides a transmission speed control method, a device, equipment and a medium.
First, some terms referred to in the embodiments of the present application will be described to facilitate understanding by those skilled in the art.
The terminal equipment: may be a mobile terminal, a fixed terminal, or a portable terminal such as a mobile handset, station, unit, device, multimedia computer, multimedia tablet, internet node, communicator, desktop computer, laptop computer, notebook computer, netbook computer, tablet computer, personal communication system device, personal navigation device, personal digital assistant, audio/video player, digital camera/camcorder, positioning device, television receiver, radio broadcast receiver, electronic book device, gaming device, or any combination thereof, including the accessories and peripherals of these devices, or any combination thereof. It is also contemplated that the terminal device can support any type of interface to the user (e.g., wearable device), and the like.
A server: the cloud server can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and can also be a cloud server for providing basic cloud computing services such as cloud service, a cloud database, cloud computing, cloud functions, cloud storage, network service, cloud communication, middleware service, domain name service, security service, big data and artificial intelligence platform and the like.
Speed curve: indicating a correspondence between the transfer speed and the transfer distance of the target object.
Termination position: the exit of the last transport track in the transport system.
Starting position: the transmission speed of the target object is the position where the preset starting speed is located, wherein the starting position does not comprise the ending position.
Idle transfer track: is a transport track in an idle state.
Non-idle transfer track: is a transfer track in a non-idle state.
Fig. 1 is a schematic diagram of a transmission system. The transport system comprises transport rails and a control device.
The control device: the system can be a server or a terminal device, and is used for controlling the transmission speed of each transmission track and transmitting the target object through the transmission tracks.
A conveying track: for transporting the target object in accordance with the instructions of the control device. The track lengths corresponding to different transmission tracks are transmission distances, and the track lengths corresponding to different transmission tracks may be the same or different, and are not limited herein.
In fig. 1, n transfer tracks are taken as an example, and the transfer tracks are a transfer track 1, a transfer track 2, and a transfer track 3 … … in this order, i.e., a transfer track n. The entrance of the transfer rail 1 is x0, the exit of the transfer rail 1 and the entrance of the transfer rail 2 are both x1, and the exit of the … … transfer rail n is xn. Wherein x represents the position and n represents the number of transmission tracks, which is a positive integer.
In one embodiment, the transfer rail is a belt transfer rail, and the control device controls the transfer speed of the transfer rail by a motor.
Referring to fig. 2, a flowchart of an implementation of a transmission speed control method according to the present application is shown. Based on the transmission system shown in fig. 1, the method has the following specific implementation flow:
step 200: and if the target object is determined to be positioned at the initial position, the control equipment acquires the transmission state of the transmission track behind the target object.
Specifically, when step 200 is executed, the control device may adopt the following steps:
s2001: if the transmission speed of the target object is a preset initial speed and the current position of the target object is a non-ending position, determining that the target object is located at the initial position, and determining the current position of the target object as the current initial position.
Optionally, the preset starting speed may be zero, or may also be the lowest track transmission speed, and may also be set according to an actual application scenario, which is not limited herein.
In one embodiment, the preset starting speed is set to zero for the entrance of the first transport track of the transport system. And setting the preset starting speed to be zero or the lowest track conveying speed at the entrance of the non-first conveying track. That is, the preset start speed may not be a fixed value, and the preset start speed set may be different for different positions.
For example, assume that the preset starting speed is zero. Referring to fig. 1, when the target object is located at x0, i.e. the entrance of the first conveying track of the conveying system, because the target object has not entered any conveying track of the conveying system, and the current conveying speed of the target object is zero, the control device determines x0 as the current starting position of the target object, and determines that the target object is located at the starting position.
In one embodiment, the target object is located at an entrance of a non-first transfer track, and the transfer speed has decreased to a preset start speed, the control device determines the entrance of the non-first transfer track as the current start position of the target object.
For example, assuming that the preset start speed is the track minimum transfer speed, the target object is located at x3 in fig. 1, and the transfer speed of the target object has fallen to the track minimum transfer speed, the control apparatus determines x3 as the current start position of the target object.
That is, the entrance of the conveying track where the target object is located when the conveying speed is the preset starting speed is the starting position, and the starting position of the target object is not a fixed point but is continuously changed along with the conveying speed of the target object.
The target object is an object to be transmitted, such as a test tube rack, a sample, and the like.
S2002: the control device acquires a transport state of the transport track after the target object.
Specifically, in one embodiment, the control device acquires the transport states of all the transport tracks behind the target object.
In one embodiment, the control device sequentially acquires the transfer status of each transfer track following the target object until it is determined that a non-idle transfer track exists.
Wherein the transmission state comprises: an idle state and a non-idle state. When the target object enters one transmission track, the transmission track is set to be in a non-idle state, and when any target object does not exist on one transmission track, the transmission track is in an idle state.
Step 201: and the control equipment screens out the idle transmission tracks meeting the preset screening conditions according to the transmission state of each transmission track.
Specifically, the preset screening condition is determined according to the transmission state of the transmission track and the continuity of the idle transmission track.
When step 201 is executed, the control device may adopt any one of the following two manners:
the first mode is as follows: and if the non-idle transmission track exists, determining the first non-idle transmission track behind the target object and the idle transmission track between the target object as the idle transmission track meeting the preset screening condition.
The second way is: and if the non-idle transmission track does not exist, determining each transmission track behind the target object as an idle transmission track meeting the preset screening condition.
That is, if the first transfer track after the target object is a non-idle transfer track, the number of free transfer tracks screened out is zero. And if the first transmission track behind the target object is an idle transmission track and the second transmission track is a non-idle transmission track, the number of the screened idle transmission tracks is one.
If the first to mth transmission tracks behind the target object are idle transmission tracks and the m +1 th transmission track is a non-idle transmission track, the number of the screened idle transmission tracks is m. And if the first to the last transmission tracks behind the target object are all idle transmission tracks, the first to the last transmission tracks are all idle transmission tracks meeting the preset screening condition.
Wherein m is a positive integer and represents the serial number of the transmission track.
In this way, one free transfer track adjacent to the target object or a plurality of continuous free transfer tracks adjacent to the target object can be screened out.
Step 202: and if the number of the screened idle transmission tracks is at least one, the control equipment determines the total transmission distance according to the track length corresponding to the screened idle transmission tracks.
Specifically, if the number of the screened idle transfer tracks is at least one, the control device determines the sum of the track lengths corresponding to the screened idle transfer tracks, and determines the sum as the total transfer distance.
Further, if the number of the screened idle transmission tracks is zero, the control device controls the target object to wait at the initial position until it is determined that there is an idle transmission track meeting the preset screening condition, and then step 202 is executed.
In one embodiment, the control device periodically obtains the transmission states of the transmission tracks, and determines whether there is an idle transmission track meeting a preset screening condition according to the obtained transmission states.
In one embodiment, when the transmission state of the first transmission track after the target object changes, the control device receives a trigger message indicating the change of the transmission state, and determines that there is an idle transmission track meeting the preset screening condition.
Therefore, in the subsequent steps, the screened one or more idle transmission tracks can be used as a whole to carry out unified speed control, so that the transmission speed of the transmission tracks is maximized, and the transmission efficiency is improved. In addition, only the idle transmission tracks are subjected to unified speed control, and target objects can be cached through other transmission tracks, so that the problem of track blockage is avoided.
Step 203: and the control equipment determines the corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance and a preset acceleration and deceleration model.
Specifically, the preset acceleration and deceleration model comprises an acceleration stage and a deceleration stage, and is used for enabling the target object to accelerate and then decelerate in the transmission process of the screened idle transmission track, and the speed is just reduced to the preset initial speed at the outlet of the screened last idle transmission track. The corresponding relationship between the transmission speed and the transmission distance of the target object is a speed curve of the target object transmitted in each screened idle transmission track, that is, the speed curve of each screened idle transmission track.
Optionally, the preset acceleration and deceleration model may adopt a trigonometric function algorithm, a trapezoidal algorithm or an S-shaped algorithm, and the like, which is not limited herein.
In one embodiment, the control device determines a corresponding relationship between the transmission speed and the transmission distance of the target object according to the total transmission distance, the first preset acceleration and the second preset acceleration.
The first preset acceleration is used for acceleration, and the second preset acceleration is used for deceleration. Optionally, the first preset acceleration and the second preset acceleration may be the same or different in magnitude, and have opposite signs. In the embodiment of the present application, only the first preset acceleration and the second preset acceleration have the same magnitude and opposite signs, which is taken as an example for explanation.
Referring to FIG. 3a, an exemplary triangular velocity profile is shown. The abscissa represents the transport distance and the ordinate represents the transport speed. Q1 denotes a start position, Q2 denotes a stop position, and Q1M1 is a first distance. Q1Q2 is the total distance of transmission, i.e. the sum of the track lengths corresponding to the free transmission tracks screened out. The first preset acceleration and the second preset acceleration are the same in magnitude and opposite in sign. The control device accelerates with a first preset acceleration during Q1M1 and decelerates with a second preset acceleration during MQ2 and the transmission speed is 0 upon arrival at Q2.
Assume that the first predetermined acceleration is a and the second predetermined acceleration is-a. Q1Q2 ═ (1/2) at 2; assuming that the track lengths corresponding to the transmission tracks are the same and are s, and n idle transmission tracks are screened out, Q1Q2 (ns) (1/2) aT12；
Where T1 is the time it takes for the target object to transfer Q1Q 2. In the conventional art, in the prior art,a corresponding speed curve (i.e. correspondence) is set for each transport track, s ═ (1/2) at2；
Where t is the time it takes for a single transfer track to transfer a target object. T2 is the time it takes for the target object to transfer Q1Q 2.
In the embodiment of the present application, only the transmission speed at Q2 is taken as an example, that is, the preset starting speed is taken as zero, in practical applications, when the target object reaches Q2, if the next transmission track is an idle transmission track, the target object can be directly transmitted to the next idle transmission track, so the preset starting speed can be set as the minimum transmission speed of the track, and if the next transmission track is a non-idle transmission track, the target object needs to stop waiting, so the preset starting speed can be set as 0. That is, the preset starting speed may also be set to different values according to different determination conditions.
Therefore, compared with the prior art, in the embodiment of the application, each transmission track is divided according to the transmission state of the transmission track, so that a plurality of idle transmission tracks are taken as a whole to carry out speed control, a large amount of time is saved, and the transmission efficiency is improved.
It should be noted that, in practical applications, in order to ensure the safety of the transportation, on one hand, in terms of the mechanical structure, the adjacent transportation tracks need to be closely connected to ensure that the target object can pass through at a high speed, and on the other hand, the maximum transportation speed at which the target object can stably pass through the connection position is determined, and then the transportation speed is controlled not to be higher than the maximum transportation speed.
In one embodiment, the control device determines a corresponding relationship between the transmission speed and the transmission distance of the target object according to the total transmission distance, the first preset acceleration, the second preset acceleration and the maximum transmission speed.
The maximum value of the transmission speed is not higher than the maximum transmission speed, the first preset acceleration is used for acceleration, and the second preset acceleration is used for deceleration.
Referring to FIG. 3b, an exemplary graph of a trapezoidal velocity profile is shown. The abscissa represents the transport distance and the ordinate represents the transport speed. Q1 denotes a start position, Q2 denotes a stop position, and Q1M1 is a first distance. Q1M2 represents the second distance, and Q1Q2 is the total distance traveled. The first preset acceleration and the second preset acceleration are the same in magnitude and opposite in sign. The control device accelerates with a first preset acceleration during Q1M1, reaches a maximum transmission speed at M1 and operates at a constant speed during M1M2, and decelerates with a second preset acceleration during MQ2 and reaches a transmission speed of 0 at Q2.
Further, the control device may further set a preset acceleration that varies with the preset function, and then determine a correspondence between the transmission speed and the transmission distance of the target object according to the total transmission distance, the preset acceleration, and the maximum transmission speed.
In this way, the preset acceleration is continuously variable.
In practical application, the preset acceleration and deceleration model may be set according to a practical application scenario, which is not limited herein.
In this way, a speed profile can be determined from the total length of the integrated free transport tracks.
Step 204: and the control equipment controls the idle transmission track to accelerate and decelerate according to the corresponding relation until the speed of the screened idle transmission track is determined to be reduced to a preset initial speed.
Specifically, when step 204 is executed, the control device may adopt the following two modes:
the first mode is as follows: and controlling the acceleration and deceleration of the idle transmission track by adopting a triangular speed curve.
Specifically, the following steps are performed:
s2041: and controlling the idle conveying track to accelerate according to a first preset acceleration.
S2042: and when the transmission distance of the target object reaches the first distance, controlling the idle transmission track to decelerate according to a second preset acceleration.
The first distance is determined according to a preset acceleration and deceleration model and the total transmission distance and is an inflection point of the change of the transmission speed.
S2043: and when the transmission speed of the idle transmission track is the preset initial speed, controlling the idle transmission track to operate according to the preset initial speed.
The second way is: and a trapezoidal speed curve is adopted to control the acceleration and deceleration of the idle transmission track.
S2044: and controlling the idle conveying track to accelerate according to a first preset acceleration.
S2045: and when the transmission distance of the target object reaches the first distance, controlling the idle transmission track to run at a constant speed.
S2046: and when the transmission distance of the target object reaches a second distance, controlling the idle transmission track to decelerate according to a second preset acceleration.
The first distance and the second distance are determined according to a preset acceleration and deceleration model and a total transmission distance and are inflection points of transmission speed change. When the target object reaches the first distance, the transport speed of the target object reaches the maximum transport speed.
S2047: when the transmission speed of the idle transmission track is reduced to the preset initial speed, the control device controls the idle transmission track to operate according to the preset initial speed.
It should be noted that when the idle transfer tracks operate according to the preset initial speed, the target object is located at the exit of the last idle transfer track screened out.
Step 205: the control device determines whether the target object is located at the end position, if so, step 206 is performed, otherwise, step 200 is performed.
At the exit of each transfer track, a sensor, such as a photoelectric sensor, for detecting a target object is installed. The control device may determine the current location of the target object through the sensor.
In this way, if it is determined that the current position of the target object is not the end position, it indicates that the target object is located at the start position.
Step 206: the control device determines that the target object transfer is complete.
In this way, it is possible to maximize the transfer speed when there are a plurality of free transfer tracks.
Referring to fig. 4, a detailed implementation flowchart of a transmission speed control method provided in the present application is shown. Based on the transmission system shown in fig. 1, the method has the following specific implementation flow:
step 400: and if the target object is determined to be positioned at the starting position, the control equipment acquires the transmission state of the first transmission track behind the target object.
Step 401: the control device determines whether the first transfer track is a non-idle transfer track, if so, step 402 is executed, otherwise, step 403 is executed.
Step 402: the control device controls the target object to wait at the start position until it is determined that the first transfer track is an idle transfer track, and then performs step 403.
Specifically, when the target object is located on one transfer track, the control device controls the transfer track to stop running, so that the target object is cached at the starting position.
In the embodiment of the application, when the target object is cached at the starting position, the transmission track stops running.
Step 403: the control equipment screens out the idle transmission tracks meeting the preset screening conditions.
In one embodiment, the control device screens out a plurality of consecutive free transport tracks including the first transport track.
In one embodiment, the second transfer track is a non-idle transfer track, and the control device determines that the first transfer track is an idle transfer track meeting the preset screening condition.
Step 404: and the control equipment determines the sum of the track lengths corresponding to the screened idle conveying tracks as the total conveying distance.
Step 405: and the control equipment determines the corresponding relation according to the total transmission distance and a preset acceleration and deceleration model.
Step 406: and the control equipment controls the screened idle transmission tracks to accelerate and decelerate according to the corresponding relation, so that the target object is transmitted to the outlet of the screened last idle transmission track to reach the preset initial speed.
Step 407: the control device determines whether the target object is at the end position, if so, step 408 is performed, otherwise, step 400 is performed.
Step 408: the control device determines that the target object transfer is complete.
In the embodiment of the present application, only one target object is taken as an example for explanation, in practical applications, a plurality of target objects may be transmitted in a transmission system, and the transmission of other target objects may be controlled by using the same principle as that of controlling the transmission of one target object, which is not described herein again.
The above embodiments are illustrated below using specific application scenarios. It is assumed that the transport system comprises 3 transport tracks, namely transport track 1, transport track 2 and transport track 3. And the inlets of the 3 conveying tracks are x0, x1 and x2 in sequence, and the termination position is x 3. The target object is a tube rack, and the tube rack is currently located at x 0. Different speed control processes are executed according to the transmission state of each transmission track.
In an application scenario, the transfer track 1, the transfer track 2, and the transfer track 3 are all in an idle state. Referring to fig. 5a, a first flowchart of a speed control method is shown.
Step 500: the control equipment sequentially obtains the transmission states of the transmission track 1, the transmission track 2 and the transmission track 3 and determines that the transmission track 1, the transmission track 2 and the transmission track 3 are all in the idle state.
Step 501: the control device determines the sum of the track lengths corresponding to the transfer track 1, the transfer track 2, and the transfer track 3 as the total transfer distance.
Step 502: and the control equipment determines the corresponding relation between the transmission speed and the transmission distance according to the total transmission distance.
Step 503: and the control equipment transmits the test tube rack to x3 according to the corresponding relation.
In this way, 3 transport tracks can be taken as a whole to determine the speed profile and to perform a uniform speed control. By uniform speed control is meant that the transport speeds of the plurality of transport tracks are the same.
In an application scenario, the transfer tracks 1 and 2 are in an idle state, and the transfer track 3 is currently in a non-idle state. Referring to fig. 5b, a flow chart of a speed control method is shown.
Step 510: the control equipment sequentially obtains the transmission states of the transmission track 1, the transmission track 2 and the transmission track 3, and determines that the transmission track 1 and the transmission track 2 are in an idle state and the transmission track 3 is in a non-idle state.
Step 511: the control device determines the sum of the track lengths corresponding to the transfer track 1 and the transfer track 2 as the first total transfer distance.
Step 512: the control device determines a first corresponding relationship between the transmission speed and the transmission distance according to the first total transmission distance.
Step 513: the control apparatus transmits the rack to x2 in accordance with the first correspondence described above.
Step 514: the control device controls the test rack to wait at x2 until it is determined that the transport track 3 is in an idle state.
Step 515: the control device determines the track length corresponding to the transfer track 3 as the second total transfer distance.
Step 516: and the control equipment determines a second corresponding relation between the transmission speed and the transmission distance according to the second total transmission distance, and transmits the test tube rack to x3 according to the second corresponding relation.
In this way, it is possible to determine the speed profile of the transfer track 1 and the transfer track 2 as a whole and to control the transfer track 1 and the transfer track 2 in a unified manner. Then, the speed control is performed on the transfer rail 3.
In one application scenario, the transfer track 1 is in an idle state, and the transfer tracks 2 and 3 are currently in a non-idle state. Referring to fig. 5c, a flow chart of a speed control method is shown.
Step 520: the control device sequentially obtains the transmission states of the transmission track 1 and the transmission track 2, and determines that the transmission track 1 is in an idle state and the transmission track 2 is in a non-idle state.
Step 521: the control device determines the track length of the transfer track 1 as the first total transfer distance.
Step 522: the control equipment determines a first corresponding relation between the transmission speed and the transmission distance according to the first total transmission distance, and transmits the test tube rack to x1 according to the first corresponding relation.
Step 523: the control device controls the test rack to wait at x1 until it is determined that the transport track 2 is in the idle state.
Step 524: the control device determines the track length corresponding to the transmission track 2 as a second total transmission distance, determines a second corresponding relation between the transmission speed and the transmission distance according to the second total transmission distance, and transmits the test tube rack to x2 according to the second corresponding relation.
Step 525: the control device controls the test rack to wait at x2 until it is determined that the transport track 3 is in an idle state.
Step 526: the control device determines the track length corresponding to the transmission track 3 as a third total transmission distance, determines a third corresponding relation between the transmission speed and the transmission distance according to the third total transmission distance, and transmits the test tube rack to x3 according to the third corresponding relation.
In this way, the transport tracks can only be controlled individually.
In the embodiment of the present application, only the multiple application scenarios are exemplified, and in practical applications, there may be multiple transmission tracks, and speed control may be performed by using a similar principle, which is not described herein again.
In the embodiment of the application, each idle transmission track between the target object and the first non-idle transmission track later is taken as a whole to determine the speed curve, that is, each transmission track can be divided according to the transmission state of the transmission track, so that when a plurality of idle transmission tracks exist, the maximization of the transmission speed is ensured, the target object can be cached on the transmission track, and the track blockage is avoided.
Based on the same inventive concept, the embodiment of the present application further provides a transmission speed control device, and as the principles of the device and the apparatus for solving the problems are similar to those of a transmission speed control method, the implementation of the device can be referred to the implementation of the method, and repeated details are not repeated.
As shown in fig. 6, which is a schematic structural diagram of a transmission speed control apparatus provided in an embodiment of the present application, the transmission speed control apparatus includes:
an obtaining unit 601, configured to obtain a transmission state of a transmission track behind a target object if it is determined that the target object is located at a start position;
a screening unit 602, configured to screen out, according to a transmission state of each transmission track, an idle transmission track that meets a preset screening condition;
a first determining unit 603, configured to determine a total transmission distance according to a track length corresponding to the screened idle transmission track if the number of the screened idle transmission tracks is at least one;
a second determining unit 604, configured to determine a corresponding relationship between the transmission speed and the transmission distance of the target object according to the total transmission distance and a preset acceleration/deceleration model, where the preset acceleration/deceleration model includes an acceleration stage and a deceleration stage, and the transmission speed corresponding to the total transmission distance is a preset starting speed;
the control unit 605 is configured to control acceleration and deceleration of the idle transfer tracks according to the corresponding relationship, so that the target object reaches a preset initial speed after being transferred from the initial position to the exit of the last idle transfer track screened out.
Preferably, the first determining unit 603 is further configured to:
and if the number of the screened idle transmission tracks is zero, controlling the target object to wait at the initial position until determining that the idle transmission tracks meeting the preset screening condition exist, and executing the step of determining the total transmission distance according to the track length corresponding to the screened idle transmission tracks.
Preferably, the obtaining unit 601 is configured to:
and if the transmission speed of the target object is the preset initial speed and the position of the target object is the non-ending position, determining the current position of the target object as the current initial position.
Preferably, the screening unit 602 is configured to:
if the non-idle transmission track exists, determining a first non-idle transmission track behind the target object and an idle transmission track between the target object as an idle transmission track meeting a preset screening condition;
and if the non-idle transmission track does not exist, determining each transmission track behind the target object as an idle transmission track meeting the preset screening condition.
Preferably, the second determining unit 604 is configured to:
determining a corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance, the first preset acceleration and the second preset acceleration;
the first preset acceleration is used for acceleration, and the second preset acceleration is used for deceleration.
In a method, an apparatus, a device, and a medium for controlling a transmission speed provided in an embodiment of the present application, if it is determined that a target object is located at an initial position, a transmission state of a transmission track behind the target object is obtained; screening out idle transmission tracks meeting preset screening conditions according to the transmission state of each transmission track; if the number of the screened idle transmission tracks is at least one, determining a total transmission distance according to the track length corresponding to the screened idle transmission tracks; determining a corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance and a preset acceleration and deceleration model, wherein the preset acceleration and deceleration model comprises an acceleration stage and a deceleration stage, and the transmission speed corresponding to the total transmission distance is a preset initial speed; and controlling the idle transmission tracks to accelerate and decelerate according to the corresponding relation, so that the target object reaches a preset initial speed after being transmitted from the initial position to the outlet of the last idle transmission track screened out. Therefore, the transmission speed can be controlled to be maximized and the transmission efficiency can be improved while the track blockage is avoided according to the idle transmission track.
For convenience of description, the above parts are separately described as modules (or units) according to functional division. Of course, the functionality of the various modules (or units) may be implemented in the same one or more pieces of software or hardware when implementing the present application.
Based on the above embodiments, referring to fig. 7, in an embodiment of the present application, a structural schematic diagram of a control device is shown.
Embodiments of the present disclosure provide a control device, which may include a processor 7010 (CPU), a memory 7020, an input device 7030, an output device 7040, and the like, wherein the input device 7030 may include a keyboard, a mouse, a touch screen, and the like, and the output device 7040 may include a Display device, such as a Liquid Crystal Display (LCD), a Cathode Ray Tube (CRT), and the like.
The memory 7020 may include read-only memory (ROM) and Random Access Memory (RAM), and provides the processor 7010 with program instructions and data stored in the memory 7020. In the embodiment of the present application, the memory 7020 may be used to store a program for transmission speed control in the embodiment of the present application.
The processor 7010 is configured to perform a method of transmission speed control provided by the embodiment shown in fig. 2 by invoking program instructions stored in the memory 7020 by the processor 7010.
In an embodiment of the present application, there is further provided a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the method for controlling transmission speed in any of the above-mentioned method embodiments.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (12)
1. A conveying speed control method applied to a conveying system including a plurality of conveying tracks, comprising:
if the target object is located at the initial position, acquiring the transmission state of a transmission track behind the target object;
screening out idle transmission tracks meeting preset screening conditions according to the transmission state of each transmission track;
if the number of the screened idle transmission tracks is at least one, determining a total transmission distance according to the track length corresponding to the screened idle transmission tracks;
determining a corresponding relation between a transmission speed and the transmission distance of the target object according to the total transmission distance and a preset acceleration and deceleration model, wherein the preset acceleration and deceleration model comprises an acceleration stage and a deceleration stage, and the transmission speed corresponding to the total transmission distance is a preset initial speed;
and controlling the idle transmission tracks to accelerate and decelerate according to the corresponding relation, so that the target object reaches a preset initial speed after being transmitted from the initial position to the outlet of the screened last idle transmission track.
2. The method of claim 1, further comprising:
and if the number of the screened idle transmission tracks is zero, controlling the target object to wait at the initial position until the idle transmission tracks meeting the preset screening condition exist, and executing the step of determining the total transmission distance according to the track length corresponding to the screened idle transmission tracks.
3. The method of claim 1, wherein determining that the target object is located at the starting position comprises:
and if the transmission speed of the target object is a preset initial speed and the position of the target object is a non-ending position, determining the current position of the target object as the current initial position.
4. The method of claim 1, wherein screening out free transfer tracks meeting a preset screening condition according to the transfer status of each transfer track comprises:
if the non-idle transmission track exists, determining a first non-idle transmission track behind the target object and an idle transmission track between the target object as an idle transmission track meeting a preset screening condition;
and if the non-idle transmission track does not exist, determining each transmission track behind the target object as an idle transmission track meeting the preset screening condition.
5. The method according to any one of claims 1 to 4, wherein determining a correspondence between a transmission speed and a transmission distance of the target object according to the total transmission distance and a preset acceleration and deceleration model comprises:
determining a corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance, the first preset acceleration and the second preset acceleration;
the first preset acceleration is used for acceleration, and the second preset acceleration is used for deceleration.
6. A transmission speed control apparatus, characterized by comprising:
the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring the transmission state of a transmission track behind a target object if the target object is determined to be positioned at an initial position;
the screening unit is used for screening out the idle transmission tracks meeting the preset screening conditions according to the transmission state of each transmission track;
the first determining unit is used for determining the total transmission distance according to the track length corresponding to the screened idle transmission tracks if the number of the screened idle transmission tracks is at least one;
a second determining unit, configured to determine a corresponding relationship between a transmission speed and the transmission distance of the target object according to the total transmission distance and a preset acceleration/deceleration model, where the preset acceleration/deceleration model includes an acceleration stage and a deceleration stage, and the transmission speed corresponding to the total transmission distance is a preset initial speed;
and the control unit is used for controlling the idle transmission tracks to accelerate and decelerate according to the corresponding relation, so that the target object reaches a preset initial speed after being transmitted from the initial position to the outlet of the last screened idle transmission track.
7. The apparatus of claim 6, wherein the first determination unit is further to:
and if the number of the screened idle transmission tracks is zero, controlling the target object to wait at the initial position until the idle transmission tracks meeting the preset screening condition exist, and executing the step of determining the total transmission distance according to the track length corresponding to the screened idle transmission tracks.
8. The apparatus of claim 6, wherein the obtaining unit is to:
and if the transmission speed of the target object is a preset initial speed and the position of the target object is a non-ending position, determining the current position of the target object as the current initial position.
9. The apparatus of claim 6, wherein the screening unit is to:
if the non-idle transmission track exists, determining a first non-idle transmission track behind the target object and an idle transmission track between the target object as an idle transmission track meeting a preset screening condition;
and if the non-idle transmission track does not exist, determining each transmission track behind the target object as an idle transmission track meeting the preset screening condition.
10. The apparatus according to any of claims 6-9, wherein the second determining unit is configured to:
determining a corresponding relation between the transmission speed and the transmission distance of the target object according to the total transmission distance, the first preset acceleration and the second preset acceleration;
the first preset acceleration is used for acceleration, and the second preset acceleration is used for deceleration.
11. A control apparatus, characterized by comprising:
at least one memory for storing program instructions;
at least one processor for calling program instructions stored in said memory and for executing the steps of the method according to any one of the preceding claims 1 to 5 in accordance with the program instructions obtained.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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