CN-121974168-A - Control method of stacking equipment, electronic equipment and storage medium

CN121974168ACN 121974168 ACN121974168 ACN 121974168ACN-121974168-A

Abstract

The invention provides a control method of stacking equipment, the stacking equipment, electronic equipment and a storage medium, and relates to the technical field of equipment control, wherein the method comprises the following steps: for the end effector of the stacking device, the first system can acquire the track end point coordinates and send the track end point coordinates to the second system, the second system can further acquire the current interpolation coordinates corresponding to the track end point coordinates, calculate the current interpolation coordinates according to the track end point coordinates and the current interpolation coordinates to acquire corresponding interpolation paths, determine variable frequency pulse sequences corresponding to the interpolation paths, output the variable frequency pulse sequences and control the servo motor of the stacking device to operate, so that response delay time is effectively reduced, positioning accuracy is improved, real-time control that CPU occupancy rate approaches to 0% is realized, and resource utilization rate of the stacking device is improved.

Inventors

WAN WENJIE
HUANG QIUYI
CHEN MINYI

Assignees

珠海格力智能装备有限公司

Dates

Publication Date: 20260505
Application Date: 20251224

Claims (12)

1. A control method of a palletizing apparatus, wherein at least a first system and a second system are configured in the palletizing apparatus, the method comprising: the first system acquires track end point coordinates; the second system obtains current interpolation coordinates corresponding to the track endpoint coordinates, and calculates according to the track endpoint coordinates and the current interpolation coordinates to obtain corresponding interpolation paths; And the second system determines a variable frequency pulse sequence corresponding to the interpolation path, outputs the variable frequency pulse sequence and controls the servo motor of the stacking equipment to move.
2. The method of claim 1, wherein the calculating according to the track endpoint coordinates and the current interpolation coordinates to obtain corresponding interpolation paths comprises: calculating a first coordinate difference absolute value in the x direction and a second coordinate difference absolute value in the y direction between the track end point coordinate and the current interpolation coordinate; Taking the maximum value of the first coordinate difference absolute value and the second coordinate difference absolute value as the total interpolation step number; Determining a first stepping direction in the x direction and a second stepping direction in the y direction according to the magnitude relation between the track end point coordinates and the current interpolation coordinates; And performing interpolation according to the first stepping direction, the second stepping direction and the total interpolation step number to obtain a corresponding interpolation path.
3. The method of claim 2, wherein the track endpoint coordinates include a first x-coordinate and a first y-coordinate, the current interpolation coordinates include a second x-coordinate and a second y-coordinate, the calculating a first coordinate difference absolute value in the x-direction between the track endpoint coordinates and the current interpolation coordinates, and a second coordinate difference absolute value in the y-direction comprises: Calculating by adopting the first x coordinate and the second x coordinate to obtain a first coordinate difference absolute value between the track end point coordinate and the current interpolation coordinate in the x direction; and calculating by adopting the first y coordinate and the second y coordinate to obtain a second coordinate difference absolute value in the y direction between the track end point coordinate and the current interpolation coordinate.
4. A method according to claim 3, wherein said determining a first step direction in the x-direction and a second step direction in the y-direction based on a magnitude relation between the trajectory end point coordinates and the current interpolation coordinates comprises: if the first x coordinate is larger than the second x coordinate, taking the positive direction in the x direction as a first stepping direction; if the first x coordinate is smaller than the second x coordinate, taking the negative direction in the x direction as a first stepping direction; if the first y coordinate is larger than the second y coordinate, taking the positive direction in the y direction as a second stepping direction; and if the first y coordinate is smaller than the second y coordinate, taking the negative direction in the y direction as a second stepping direction.
5. The method according to claim 2, 3 or 4, wherein the interpolating according to the first step direction, the second step direction and the total interpolation step number to obtain a corresponding interpolation path comprises: And gradually updating the current interpolation coordinates according to the first stepping direction and the second stepping direction with a preset interpolation period until the interpolation of the total interpolation steps is completed, and obtaining a corresponding interpolation path.
6. The method of claim 5, wherein the determining the sequence of variable frequency pulses corresponding to the interpolation path comprises: generating and outputting a driving pulse signal synchronously every time the current interpolation coordinate is updated; And continuously outputting a plurality of driving pulse signals to form a corresponding variable frequency pulse sequence.
7. The method as recited in claim 1, further comprising: The first system acquires external working condition information, determines a target limiting threshold according to the external working condition information, and sends the target limiting threshold to the second system; And the second system acquires a real-time pulse count value of the servo motor in real time in the process of controlling the servo motor to move, and outputs a stop control signal aiming at the servo motor if the real-time pulse count value is greater than or equal to the target limit threshold.
8. The method of claim 7, wherein the external operating condition information includes at least a stacking height of a current stack, and wherein determining the target limit threshold based on the external operating condition information includes: and calculating a target limit threshold value matched with the stacking height.
9. The method of any of claims 1 to 4, 7 to 8, wherein the first system is an ARM architecture based processor system and the second system is an FPGA architecture based hardware logic system.
10. A palletizing device is characterized by comprising at least a first system and a second system in communication connection with the first system, wherein, The first system is used for acquiring the track endpoint coordinates; The second system is used for acquiring current interpolation coordinates corresponding to the track end point coordinates, calculating according to the track end point coordinates and the current interpolation coordinates to obtain corresponding interpolation paths, determining variable frequency pulse sequences corresponding to the interpolation paths, outputting the variable frequency pulse sequences and controlling the servo motor of the stacking equipment to move.
11. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; The memory is used for storing a computer program; The processor being configured to implement the method of any of claims 1-9 when executing a program stored on a memory.
12. A readable storage medium having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the method of any of claims 1-9.

Description

Control method of stacking equipment, electronic equipment and storage medium Technical Field The present invention relates to the field of device control technologies, and in particular, to a method for controlling a palletizing device, an electronic device, and a readable storage medium. Background Industrial robot is a multi-functional, multi-degree-of-freedom, multi-purpose operating device capable of automatic control, re-programming, and is widely used in the fields of automobiles, machining, electronics, plastic products, etc., and is an important component of automation equipment. The industrial robot has the incomparable advantages of high repeated positioning precision, high reliability, high production flexibility, high automation degree and the like. On one hand, the industrial robot solves the problems that the prior special machine has large occupied area and complex structure and is unfavorable for an automatic production line, and on the other hand, the industrial robot also releases human beings from heavy, repeated and monotonous production labor. In the palletizing operation, the palletizing device needs to rapidly and accurately complete repeated picking and placing actions and the like. However, in the control process of the related stacking equipment, due to factors such as process scheduling of an operating system, software calculation delay and the like, delay of signal response is easy to cause terminal positioning deviation, positioning aging is caused when serious, and stacking precision is affected. Disclosure of Invention The embodiment of the invention provides a control method of palletizing equipment, electronic equipment and a readable storage medium, which are used for solving or partially solving the problem of inaccurate positioning of palletizing equipment. The embodiment of the invention discloses a control method of stacking equipment, wherein the stacking equipment is at least provided with a first system and a second system, and the method comprises the following steps: the first system acquires track end point coordinates; the second system obtains current interpolation coordinates corresponding to the track endpoint coordinates, and calculates according to the track endpoint coordinates and the current interpolation coordinates to obtain corresponding interpolation paths; And the second system determines a variable frequency pulse sequence corresponding to the interpolation path, outputs the variable frequency pulse sequence and controls the servo motor of the stacking equipment to move. In some possible implementations, the calculating according to the track endpoint coordinate and the current interpolation coordinate to obtain a corresponding interpolation path includes: calculating a first coordinate difference absolute value in the x direction and a second coordinate difference absolute value in the y direction between the track end point coordinate and the current interpolation coordinate; Taking the maximum value of the first coordinate difference absolute value and the second coordinate difference absolute value as the total interpolation step number; Determining a first stepping direction in the x direction and a second stepping direction in the y direction according to the magnitude relation between the track end point coordinates and the current interpolation coordinates; And performing interpolation according to the first stepping direction, the second stepping direction and the total interpolation step number to obtain a corresponding interpolation path. In some possible implementations, the track endpoint coordinates include a first x-coordinate and a first y-coordinate, the current interpolation coordinates include a second x-coordinate and a second y-coordinate, the calculating a first coordinate difference absolute value in an x-direction between the track endpoint coordinates and the current interpolation coordinates, and a second coordinate difference absolute value in a y-direction includes: Calculating by adopting the first x coordinate and the second x coordinate to obtain a first coordinate difference absolute value between the track end point coordinate and the current interpolation coordinate in the x direction; and calculating by adopting the first y coordinate and the second y coordinate to obtain a second coordinate difference absolute value in the y direction between the track end point coordinate and the current interpolation coordinate. In some possible implementations, the determining a first step direction in the x-direction and a second step direction in the y-direction according to a magnitude relation between the trajectory end point coordinates and the current interpolation coordinates includes: if the first x coordinate is larger than the second x coordinate, taking the positive direction in the x direction as a first stepping direction; if the first x coordinate is smaller than the second x coordinate, taking the negative direc