CN116550610A

CN116550610A - Control method, device, system, equipment and medium

Info

Publication number: CN116550610A
Application number: CN202210107319.9A
Authority: CN
Inventors: 马林; 汪威; 齐嘉晖
Original assignee: Wuzhou Online E Commerce Beijing Co ltd
Current assignee: Wuzhou Online E Commerce Beijing Co ltd
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2023-08-08

Abstract

The embodiment of the application provides a control method, a control device, a control system, a control device and a control medium, wherein the control method comprises the following steps: detecting an operation speed value of a target device; under the condition that the running speed value is smaller than a preset value, determining first target frequency information according to the mapping relation among the duration information, the error information and the frequency information; the time length information represents the starting time length corresponding to the frequency information, and the error information represents the speed error corresponding to the frequency information; and sending the first target frequency information to a driving device so that the driving device drives the target device according to the first target frequency information. The method and the device can shorten the starting time of the target device and reduce the steady-state error of the running speed of the target device.

Description

Control method, device, system, equipment and medium

Technical Field

The embodiment of the application relates to the technical field of control, in particular to a control method, a control device, a control system, a control device and a control medium.

Background

Sorting links of logistics objects such as packages are an important link in the logistics industry. And the sorting link sorts the bulk packages which are mixed and gathered together according to the rules of destination and the like, and gathers the logistics objects of all categories so as to facilitate the next transportation or dispatch.

Current sorting equipment generally includes: the conveying device can convey the logistics objects to the corresponding sorting devices according to the preset paths.

In practical application, the starting time of the sorting equipment is long, so that the working efficiency of the sorting equipment is influenced, and the user experience is also influenced.

Disclosure of Invention

The embodiment of the application provides a control method, which can shorten the starting time of a target device and can reduce the steady-state error of the running speed of the target device.

Correspondingly, the embodiment of the application also provides electronic equipment and a storage medium, which are used for ensuring the realization and the application of the system.

In order to solve the above problems, an embodiment of the present application discloses a control method, which includes:

detecting an operation speed value of a target device;

under the condition that the running speed value is smaller than a preset value, determining first target frequency information according to the mapping relation among the duration information, the error information and the frequency information; the time length information represents the starting time length corresponding to the frequency information, and the error information represents the speed error corresponding to the frequency information;

and sending the first target frequency information to a driving device so that the driving device drives the target device according to the first target frequency information.

To solve the above problems, an embodiment of the present application discloses a control device, including:

the speed detection module is used for detecting the running speed value of the target device;

the first frequency determining module is used for determining first target frequency information according to the mapping relation among the duration information, the error information and the frequency information under the condition that the running speed value is smaller than a preset value;

and the first sending module is used for sending the first target frequency information to a driving device so that the driving device drives the target device according to the first target frequency information.

To solve the above-mentioned problems, an embodiment of the present application discloses a sorting system, including: control means, drive means and transfer means;

wherein the conveying device is used for conveying the logistics objects;

the control device is used for detecting the running speed value of the conveying device; and under the condition that the running speed value is smaller than a preset value, determining first target frequency information according to the mapping relation among the duration information, the error information and the frequency information, and sending the first target frequency information to a driving device so that the driving device drives the conveying device according to the first target frequency information.

In order to solve the above problems, an embodiment of the present application discloses an electronic device, including: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform the method as described in one or more of the embodiments above.

To address the above issues, embodiments of the present application disclose one or more machine-readable media having executable code stored thereon that, when executed, cause a processor to perform a method as described in one or more of the above embodiments.

Compared with the prior art, the embodiment of the application has the following advantages:

in the case that the running speed value is smaller than the preset value, according to the duration information and the error information corresponding to the frequency information in the mapping relation, determining first target frequency information from the frequency information of the mapping relation, and sending the first target frequency information to the driving device, so that the driving device drives the target device according to the first target frequency information.

In the method, the time length information and the error information corresponding to the frequency information are utilized in the process of determining the first target frequency information, so that the first target frequency information with the time length information and the error information meeting the requirements can be selected; therefore, the embodiment of the application can shorten the starting time of the target device and can reduce the steady-state error of the running speed of the target device.

Drawings

Fig. 1A and 1B are schematic structural views of a sorting apparatus according to an embodiment of the present application;

fig. 2 is a schematic structural view of a sorting apparatus according to an embodiment of the present application;

fig. 3 is a schematic structural view of another sorting apparatus according to an embodiment of the present application;

FIG. 4 is a flow chart of steps of a control method according to an embodiment of the present application;

FIG. 5 is a flow chart of a control method of one embodiment of the present application;

FIG. 6 is a graphical representation of frequency information and operational speed values over time according to an embodiment of the present application;

FIG. 7 is a flow chart of a control method of one embodiment of the present application;

FIGS. 8A, 8B, and 8C are illustrations of frequency information and time-dependent data of an operating speed value, respectively, according to embodiments of the present application;

FIG. 9 is a flow chart of a control method of one embodiment of the present application;

FIG. 10 is a schematic structural view of a control device according to an embodiment of the present application;

FIG. 11 is a schematic diagram of a sorting system according to one embodiment of the present application;

fig. 12 is a schematic structural view of an exemplary device provided in one embodiment of the present application.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

The method and the device can be applied to application scenes corresponding to the target device and the driving device. Wherein the target device may have a motion characteristic, and the driving device may be used to drive the target device. The driving means may include, but are not limited to: motors, motorized rollers, etc. In the sorting scenario of logistic objects, the target device may be a transmission device.

The types of sorting equipment may include: cross-belt, rocker-type, swing-arm, slider-type, etc., it is to be understood that embodiments of the present application are not limited to a particular type of sorting apparatus.

Wherein, the cross-belt sorting equipment specifically includes: a main drive belt conveyor and a trolley carrying a small belt conveyor. And when the trolley moves to the specified sorting position, the belt is rotated to finish the task of sorting and conveying the logistics objects. Because the main drive belt conveyor is cross-shaped with the belt conveyor on the trolley, it is called a cross-belt sorter.

Referring to fig. 1A and 1B, schematic structural diagrams of a sorting apparatus according to an embodiment of the present application are shown, respectively. The sorting equipment specifically comprises: a conveyor 101 and a sorting device 102. The conveying device 201 may be driven by a driving device (not shown in the figure) to convey the logistic objects 103 to the corresponding sorting devices 102 according to a preset path. And, the supply stage 104 may supply the logistics object 103 to the transfer apparatus 101. In practice, the speed V of the conveyor 101 in the main loop direction has a significant influence on the working efficiency of the sorting apparatus.

Referring to fig. 2, a schematic structural diagram of a sorting apparatus according to an embodiment of the present application is shown. The sorting equipment specifically comprises: a conveyor 201 and a sorting device 202. The conveying device 201 may be driven by a driving device (not shown in the figure) to convey the logistic objects to the corresponding sorting devices 202 according to a preset path.

Sorting device 202 is connected to sorting deck B via chute a for sliding the logistics objects into sorting deck B via chute a. It will be appreciated that embodiments of the present application are not limited to a particular manner of connection between sorting device 202 and sorting deck B.

Referring to fig. 3, there is shown a schematic structural view of another sorting apparatus according to an embodiment of the present application, which may specifically include: sorting deck 11, conveyor 12 and sorting aperture 13. The state of the sorting aperture 13 may include: an open state or a closed state. The path for the conveyor 12 can be planned according to the arrangement of the sorting aperture 13 on the sorting deck 11 and the target sorting aperture to which the conveyor 12 is directed. Assuming that the path planned for conveyor 12 is path B in fig. 3, conveyor 12, following path B, may deliver the loaded stream to the target sort port. The corresponding position of the target sorting opening may be provided with a collecting device, for example a collecting car, into which the logistics objects may be delivered in case the target sorting opening is in an open state.

In this embodiment of the present application, optionally, sorting of the logistic objects may be performed according to information such as an article category and/or a destination address corresponding to the logistic objects. For example, in a logistics scenario, the destination address may represent the destination of a logistics, and in this embodiment of the present application, sorting of the logistics objects may be performed according to the destination address corresponding to the logistics object, so that the same destination address corresponds to the same sorting device/sorting table. It will be appreciated that embodiments of the present application are not limited to a particular sorting scheme.

It is understood that the sorting scenario of the logistic objects is only an example of the application scenario of the embodiment of the present application, and in fact, the embodiment of the present application may also be applied to other application scenarios, such as baggage transportation scenario of an airport, transportation scenario of industrial objects, elevator scenario, etc. In other words, the target device in the embodiments of the present application may be any driven device, and the embodiments of the present application do not limit the specific target device.

In the related art, a PID (proportional integral derivative, proportion Integral Differential) algorithm is generally used to control the speed of a target device and a drive device. And the PID algorithm controls the driving device according to the difference information between the running speed value corresponding to the target device and the actual speed value. In the start-up phase of the target device, the speed control is performed on the target device and the driving device by using the PID algorithm, and it generally takes a long time to stabilize the speed of the target device, so that the related art has a technical problem of long start-up time of the target device.

In order to shorten the start-up time of the target device, the embodiment of the application provides a control method, which specifically includes: detecting an operation speed value of a target device; under the condition that the running speed value is smaller than a preset value, determining first target frequency information according to the mapping relation among the duration information, the error information and the frequency information; and transmitting the first target frequency information to a driving device so that the driving device drives the target device according to the first target frequency information.

In this embodiment of the present invention, the duration information may represent a start duration corresponding to the frequency information, that is, a start duration spent by the target device in a case where the driving device drives the target device according to the frequency information. The error information may characterize a speed error corresponding to the frequency information, i.e., a steady-state error of the operating speed of the target device in case the driving device drives the target device in accordance with the frequency information.

Method embodiment one

Referring to fig. 4, a flowchart illustrating steps of a control method according to an embodiment of the present application may specifically include the following steps:

step 401, detecting an operation speed value of a target device;

step 402, determining first target frequency information according to a mapping relationship among duration information, error information and frequency information when the running speed value is smaller than a preset value;

step 403, sending the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information.

The method shown in fig. 2 may be performed by a control device. The control device can play a role in controlling devices such as a target device, a driving device and the like, and further can realize motion control of the target device. In practical applications, the control device may include: a processor chip such as a CPU, an MCU (micro control unit, microcontroller Unit), etc., which may directly or indirectly send an instruction to the driving device, where the instruction may carry the first target frequency information, so as to implement control over the driving device. It will be appreciated that embodiments of the present application are not limited to the specific implementation of the method illustrated in fig. 2.

In step 401, the driving device and the target device may be started, and the operation speed value of the target device may be detected according to a preset period during the operation of the target device. For example, at least one speed detection module may be provided on the target device to detect an operating speed value of the target device via the speed detection module. The preset period may be determined by those skilled in the art according to practical application requirements, for example, the time unit corresponding to the preset period is seconds or the like. It will be appreciated that embodiments of the present application are not limited to a particular manner of detecting the operating speed value.

In step 402, the preset value may be a value set according to the target speed value. The target speed value may represent an ideal speed value corresponding to the target device, i.e. a speed value corresponding to the target device that meets the requirements. The preset value may be the same as or similar to the target speed value. For example, the preset value is less than the target speed value, the difference between the preset value and the target speed value is less than a difference threshold, and so on.

The embodiment of the application can pre-establish the mapping relation among the time length information, the error information and the frequency information. In a specific implementation, the driving means may support adjustment of the frequency information. For example, the driving means may be a variable frequency motor, or the driving means may comprise a motor and its corresponding frequency converter.

In practical application, at least one frequency information can be set, and under the condition of one frequency information, the driving device and the target device are tested and operated to obtain duration information and error information.

Specifically, the timer may be used to start counting from the start-up time of the driving device and the target device, or the time at which the frequency information is transmitted to the driving device, and stop counting when the number of times the operation speed value of the target device reaches or exceeds the preset value is greater than the number threshold, or the time period of the operation speed value of the target device reaching or exceeding the preset value exceeds the time period threshold, whereby the time period information may be obtained from the result of the timer counting.

When the operation speed value of the target device reaches a preset value, an operation speed upper limit value and an operation speed lower limit value can be obtained, and error information is determined according to a difference value between the operation speed upper limit value and the operation speed lower limit value. Alternatively, in the case where the operation speed value of the target device reaches a preset value, the operation speed upper limit value may be acquired, and the error information may be determined based on a difference between the operation speed upper limit value and the preset value.

According to the method, the time length information and the error information can be obtained under the condition of frequency information; thus, the frequency information, the corresponding time length information and the error information can be stored as a data record of the mapping relation. On the basis, the frequency information can be replaced, and the driving device and the target device are tested and operated according to the replaced frequency information so as to obtain another data record.

Referring to table 1, an illustration of a mapping relationship according to an embodiment of the present application is shown. It may be appreciated that the mapping relationship in the embodiments of the present application may correspond to one or more data records, and the embodiments of the present application do not limit the specific number of data records corresponding to the mapping relationship.

TABLE 1

Frequency information	Duration information	Error information
			A1Hz	B1 seconds	C1 m/s
A2Hz	B2 seconds	C2 m/s
			……	……	……

In the actual running process, the running speed value of the target device can be detected, and under the condition that the running speed value is smaller than a preset value, the first target frequency information is determined according to the mapping relation among the duration information, the error information and the frequency information.

In one implementation, the mapping relationship may be searched according to the set duration information and the set error information, so as to obtain first target frequency information matched with the set duration information and the set error information.

The set duration information may represent duration information meeting requirements, and may be a numerical value or a numerical range, and for convenience, the set duration information may correspond to the first numerical range. Similarly, the setting error information may represent error information meeting the requirement, which may be a numerical value or a range of numerical values, and for convenience, the setting error information may correspond to the second range of numerical values.

In the process of searching in the mapping relation, the first numerical range corresponding to the set duration information and the duration information can be matched, and the second numerical range corresponding to the set error information and the error information can be matched, so that the first target frequency information matched with the set duration information and the set error information can be obtained. Under the condition that the number of the first target frequency information matched with the set time length information and the set error information is multiple, the multiple first target frequency information can be screened according to the first matching degree between the set time length information and the time length information and/or the second matching degree between the set error information and the error information, so that one target frequency information can be obtained.

In step 403, an instruction may be directly or indirectly sent to the driving device, where the instruction may carry the first target frequency information, so as to implement control over the driving device.

In summary, in the control method of the embodiment of the present application, when the running speed value is smaller than the preset value, according to the duration information and the error information corresponding to the frequency information in the mapping relationship, first target frequency information is determined from the frequency information of the mapping relationship, and the first target frequency information is sent to the driving device, so that the driving device drives the target device according to the first target frequency information.

Method embodiment II

Referring to fig. 5, a flowchart illustrating steps of a control method according to an embodiment of the present application may specifically include the following steps:

step 501, detecting an operation speed value of a target device;

step 502, determining first target frequency information according to a mapping relationship among duration information, error information and frequency information when the running speed value is smaller than a preset value;

step 503, sending the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information;

with respect to the first embodiment of the method shown in fig. 4, the method of this embodiment may further include:

step 504, determining third target frequency information according to the difference information between the running speed value and the target speed value when the running speed value is greater than or equal to a preset value;

Step 505, the third target frequency information is sent to the driving device, so that the driving device drives the target device according to the third target frequency information.

According to the method and the device, when the running speed value is larger than or equal to the preset value, third target frequency information is determined according to the difference information between the running speed value and the target speed value and is issued to the driving device for execution, so that the running speed value of the target device reaches the target speed value and tends to be stable.

In practical application, the third target frequency information can be determined by using a PID algorithm, so as to reduce the difference information between the running speed value and the target speed value, and further improve the stability of the running speed value of the target device.

In a specific implementation, the PID algorithm specifically includes: the proportion link, the integration link and the differentiation link can be used for determining the third target frequency information by any one or combination of the proportion link, the integration link and the differentiation link.

It will be appreciated that the PID algorithm is merely an alternative embodiment to the control algorithm, and in fact, embodiments of the application are not limited to a particular control algorithm. For example, according to practical application requirements, a person skilled in the art may use control algorithms such as an LQR linear quadratic regulator, (linear quadratic regulator), MPC (model predictive control ), and the like to determine the third target frequency information according to the difference information between the operating speed value and the target speed value, so as to improve the stability of the operating speed value of the target device.

Referring to fig. 6, a schematic representation of frequency information and time-dependent data of an operating speed value according to an embodiment of the present application is shown. In this case, the driving device and the target device may be controlled to operate according to the first target frequency information according to steps 501 to 503, so that the running speed value of the target device quickly reaches the preset value.

In the case where the operation speed value is greater than or equal to the preset value, for example, at the time t=t1, the driving device may be controlled to operate according to the third target frequency information according to steps 504 to 505 so as to stabilize the operation speed value of the target device in the vicinity of the target speed value. It will be appreciated that in fig. 6, the linear relationship between the third target frequency information and the time information is merely an example, and in fact, the third target frequency information and the time information may also have a nonlinear relationship.

In summary, in the control method of the embodiment of the present application, when the running speed value is greater than or equal to the preset value, the third target frequency information is determined according to the difference information between the running speed value and the target speed value, and is issued to the driving device for execution, so that the running speed value of the target device reaches the target speed value and tends to be stable, and the stability of the running speed value of the target device can be improved.

Method example III

Referring to fig. 7, a flowchart illustrating steps of a control method according to an embodiment of the present application may specifically include the following steps:

step 701, detecting an operation speed value of a target device;

step 702, determining first target frequency information according to a mapping relationship among duration information, error information and frequency information when the running speed value is smaller than a preset value;

step 703, transmitting the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information;

step 704, determining a first driving device with a fault;

step 705, determining second target frequency information according to the information of the second driving device and the first target frequency information; the second drive means may be different to the first drive means;

step 706, sending the second target frequency information to a second driving device, so that the driving device drives the target device according to the second target frequency information.

According to the method and the device for determining the first driving device, the first driving device with the fault is determined, and then the second driving device without the fault can be determined. On the basis, according to the information of the second driving device and the first target frequency information, the second target frequency information is determined, and then the driving device is controlled to work according to the second target frequency information.

According to the method and the device for determining the second target frequency information, the second target frequency information is determined according to the information of the second driving device without faults, so that the determined second target frequency information can be matched with the information of the second driving device, and the control device can further have fault tolerance control capability of the driving device faults. And the driving device can be enabled to have the capability of automatically recovering stable operation based on the updating of the frequency information, so that the working efficiency of the target device in the corresponding application scene can be improved.

In practical application, whether the driving device has a fault or not can be judged according to the signal output by the driving device, and it can be understood that the specific judging mode for judging whether the driving device has the fault or not is not limited.

Step 705 may be used to update the frequency information in the event that a drive failure is detected. The update of the frequency information may correspond to a triggered condition. The triggering condition may be that the number of the first driving devices meets a preset condition, and the running speed value is smaller than a preset value; in other words, in the case where the number of first driving apparatuses meets a preset condition and the operation speed value is smaller than a preset value, the second target frequency information may be determined according to the number of second driving apparatuses and the first target frequency information.

The number of the first driving devices meeting the preset condition may include: the number of first drives is smaller than a number threshold, or a first ratio of the number of first drives to the total number of drives is smaller than a ratio threshold, etc. The preset condition can indicate that the driving device with faults occupies smaller space, so that the driving device can have the capability of automatically recovering stable operation based on the updating of the frequency information.

Since the frequency information can be adjusted by using algorithms such as PID when the running speed value is equal to or greater than the preset value, the embodiment of the present application can use the running speed value less than the preset value as the trigger condition corresponding to the update of the frequency information.

The specific process of determining the second target frequency information may include: and adjusting the first target frequency information according to the information of the second driving device to obtain second target frequency information. The information of the second driving means may include: the number of second driving devices, etc. Specifically, the corresponding adjustment amount may be increased based on the first target frequency information according to the second ratio of the number of second driving devices to the total number. Generally, the larger the second ratio, the smaller the corresponding adjustment amount. Alternatively, the adjustment amount may be determined based on the reciprocal of the second ratio and the first target frequency information. For example, the product of the reciprocal of the second ratio and the first target frequency information is first determined, and then the adjustment amount is determined based on the difference between the product and the first target frequency information.

In practical applications, the adjustment amount may be increased via one adjustment or a plurality of adjustments. For example, the first adjustment amount may be increased based on the first target frequency information first, and it may be determined whether the running speed value is smaller than a preset value, if so, the second adjustment amount may be increased based on the current target frequency information, otherwise, the adjustment may be ended. In other words, the amount of adjustment may be increased a plurality of times based on the current target frequency information until the running speed value is greater than the preset value.

It will be appreciated that other processing may be performed in the event that the trigger condition is not met. For example, if the number of the first driving devices does not meet the preset condition, fault prompting information corresponding to the first driving devices may be output to prompt a user to overhaul the first driving devices. Alternatively, the driving device and the target device may also be turned off, etc.

Of course, even if the number of the first driving devices meets the preset condition, fault prompt information corresponding to the first driving devices can be output to prompt a user to overhaul the first driving devices. In other words, the embodiment of the application may determine the first driving device having the fault, and output fault prompt information corresponding to the first driving device.

In the case where the operation speed value is equal to or greater than the preset value, third target frequency information may be determined according to difference information between the operation speed value and the target speed value, and the third target frequency information may be transmitted to the driving device.

It should be noted that, the pre-update frequency corresponding to step 705 may be the first target frequency information. Referring to fig. 8A, a schematic representation of frequency information and time-dependent data of an operating speed value according to an embodiment of the present application is shown. In this case, the driving device and the target device may be controlled to operate according to the first target frequency information according to steps 701 to 703, so that the running speed value of the target device may quickly reach the preset value. Assuming that at time t=t2, a first driving device having a failure is detected, the driving device may be controlled to operate according to the second target frequency information according to steps 704 to 706.

The pre-update frequency corresponding to step 705 may be the third target frequency information. Referring to fig. 8B, a schematic representation of frequency information and time-dependent data of an operating speed value according to an embodiment of the present application is shown. In this case, the driving device and the target device may be controlled to operate according to the first target frequency information according to steps 701 to 703, so that the running speed value of the target device may quickly reach the preset value. It is assumed that at time t=t1, according to steps 504 to 505, the driving device is controlled to operate in accordance with the third target frequency information so as to stabilize the operation speed value of the target device in the vicinity of the target speed value. Assuming that at time t=t3, a first driving device having a failure is detected, the driving device may be controlled to operate according to the second target frequency information according to steps 704 to 706 so that the operation speed value of the target device reaches a preset value.

In the case where the operation speed value of the target device is controlled to be in the vicinity of the preset value based on the second target frequency information, the driving device may be controlled to operate in accordance with the third target frequency information so as to stabilize the operation speed value of the target device in the vicinity of the target speed value in accordance with steps 504 to 505. Referring to fig. 8C, on the basis of fig. 8B, at time t=t4, the driving device is controlled to operate according to the third target frequency information according to steps 504 to 505.

Therefore, in the case that the operation speed value is smaller than the preset value, the embodiment of the application can determine whether the operation speed value is in the starting link, if yes, the driving device can be controlled according to the first target frequency information according to the step 702 and the step 703; otherwise, according to step 705 and step 706, the driving means is controlled according to the second target frequency information.

In the case that the operation speed value is greater than or equal to the preset value, the driving device may be controlled according to the third target frequency information according to steps 502 to 503.

In summary, according to the control method of the embodiment of the present application, the second target frequency information is determined according to the information of the second driving device that has no fault, so that the determined second target frequency information can be matched with the information of the second driving device, and the control device can further have fault tolerance control capability of the driving device fault. And the driving device can be enabled to have the capability of automatically recovering stable operation based on the updating of the frequency information, so that the working efficiency of the target device in the corresponding application scene can be improved.

Method example IV

Referring to fig. 9, a flowchart illustrating steps of a control method according to an embodiment of the present application may specifically include the following steps:

step 901, detecting an operation speed value of a target device;

step 902, determining first target frequency information according to a mapping relationship among duration information, error information and frequency information when the running speed value is smaller than a preset value;

step 903, transmitting the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information;

step 904, determining a first driving device with a fault;

step 905, judging whether the running speed value is smaller than a preset value, if yes, executing step 906, otherwise executing step 908;

step 906, determining second target frequency information according to the information of the second driving device and the first target frequency information; the second drive means may be different to the first drive means;

step 907, the second target frequency information is sent to a second driving device, so that the driving device drives the target device according to the second target frequency information;

Step 908, determining third target frequency information according to the difference information between the running speed value and the target speed value;

step 909, transmitting the third target frequency information to the driving device, so that the driving device drives the target device according to the third target frequency information.

In summary, the embodiment of the application provides a control method with fault tolerance, which controls a driving device according to first target frequency information in a starting link, so that starting time can be shortened. In the fault link, the driving device is controlled according to the second target frequency information, so that the fault recovery time can be shortened. After the starting link or after the fault recovery link, if the running speed value is greater than or equal to the preset value, the driving device can be controlled according to the difference information between the running speed value and the target speed value and the third target frequency information, so that the speed stability of the target device can be improved.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments and that the acts referred to are not necessarily required by the embodiments of the present application.

On the basis of the above embodiment, the present embodiment further provides a control device, referring to fig. 10, specifically may include the following modules:

a speed detection module 1001 for detecting an operation speed value of a target device;

a first frequency determining module 1002, configured to determine first target frequency information according to a mapping relationship among duration information, error information, and frequency information when the running speed value is less than a preset value;

a first transmitting module 1003, configured to transmit the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information.

Optionally, the apparatus may further include:

the fault detection module is used for determining a first driving device with a fault;

the second frequency determining module is used for determining second target frequency information according to the information of the second driving device and the first target frequency information; the second drive is different from the first drive;

and the second sending module is used for sending the second target frequency information to a second driving device so that the driving device drives the target device according to the second target frequency information.

Optionally, the second frequency determining module may include:

the adjusting module is used for adjusting the first target frequency information according to the information of the second driving device to obtain second target frequency information

Optionally, the second frequency determining module is specifically configured to determine the second target frequency information according to the number of the second driving devices and the first target frequency information if the number of the first driving devices meets a preset condition and the running speed value is smaller than a preset value.

Optionally, the apparatus may further include:

and the prompt module is used for outputting fault prompt information corresponding to the first driving device.

Optionally, the apparatus may further include:

the third frequency determining module is used for determining third target frequency information according to the difference information between the running speed value and the target speed value under the condition that the running speed value is larger than or equal to a preset value;

and the third sending module is used for sending the third target frequency information to the driving device so that the driving device drives the target device according to the third target frequency information.

On the basis of the above embodiment, this embodiment further provides a sorting system, referring to fig. 11, specifically may include: control means 1101, driving means 1102, and conveying means 1103;

Wherein the conveying device 1103 is used for conveying the logistics object;

the control device 1101 is configured to detect an operation speed value of the conveying device 1103; when the running speed value is smaller than a preset value, determining first target frequency information according to a mapping relationship among the duration information, the error information and the frequency information, and sending the first target frequency information to the driving device 1102, so that the driving device 1102 drives the transmission device 1103 according to the first target frequency information.

The embodiment of the application also provides a non-volatile readable storage medium, where one or more modules (programs) are stored, where the one or more modules are applied to a device, and the device may be caused to execute instructions (instractions) of each method step in the embodiment of the application.

Embodiments of the present application provide one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause an electronic device to perform a method as described in one or more of the above embodiments. In this embodiment of the present application, the electronic device includes a server, a terminal device, and other devices.

Embodiments of the present disclosure may be implemented as an apparatus for performing a desired configuration using any suitable hardware, firmware, software, or any combination thereof, which may include a server (cluster), terminal, or the like. Fig. 12 schematically illustrates an example apparatus 1300 that may be used to implement various embodiments described herein.

For one embodiment, fig. 12 illustrates an example apparatus 1300 having one or more processors 1302, a control module (chipset) 1304 coupled to at least one of the processor(s) 1302, a memory 1306 coupled to the control module 1304, a non-volatile memory (NVM)/storage 1308 coupled to the control module 1304, one or more input/output devices 1310 coupled to the control module 1304, and a network interface 1312 coupled to the control module 1304.

The processor 1302 may include one or more single-core or multi-core processors, and the processor 1302 may include any combination of general-purpose or special-purpose processors (e.g., graphics processors, application processors, baseband processors, etc.). In some embodiments, the apparatus 1300 can be used as a server, a terminal, or the like in the embodiments of the present application.

In some embodiments, the apparatus 1300 may include one or more computer-readable media (e.g., memory 1306 or NVM/storage 1308) having instructions 1314 and one or more processors 1302 combined with the one or more computer-readable media configured to execute the instructions 1314 to implement the modules to perform actions described in this disclosure.

For one embodiment, the control module 1304 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 1302 and/or any suitable device or component in communication with the control module 1304.

The control module 1304 may include a memory controller module to provide an interface to the memory 1306. The memory controller modules may be hardware modules, software modules, and/or firmware modules.

Memory 1306 may be used to load and store data and/or instructions 1314 for device 1300, for example. For one embodiment, memory 1306 may include any suitable volatile memory, such as suitable DRAM. In some embodiments, memory 1306 may include double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).

For one embodiment, the control module 1304 may include one or more input/output controllers to provide interfaces to the NVM/storage 1308 and the input/output device(s) 1310.

For example, NVM/storage 1308 may be used to store data and/or instructions 1314. NVM/storage 1308 may include any suitable nonvolatile memory (e.g., flash memory) and/or may include any suitable nonvolatile storage device(s) (e.g., hard disk drive(s) (HDD), compact disk drive(s) (CD) and/or digital versatile disk drive (s)).

NVM/storage 1308 may include storage resources that are part of the device on which apparatus 1300 is installed, or may be accessible by the device without necessarily being part of the device. For example, NVM/storage 1308 may be accessed over a network via input/output device(s) 1310.

Input/output device(s) 1310 may provide an interface for apparatus 1300 to communicate with any other suitable device, input/output device 1310 may include communication components, audio components, sensor components, and the like. The network interface 1312 may provide an interface for the device 1300 to communicate over one or more networks, and the device 1300 may communicate wirelessly with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols, such as accessing a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, 5G, etc., or a combination thereof.

For one embodiment, at least one of the processor(s) 1302 may be packaged together with logic of one or more controllers (e.g., memory controller modules) of the control module 1304. For one embodiment, at least one of the processor(s) 1302 may be packaged together with logic of one or more controllers of the control module 1304 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 1302 may be integrated on the same mold as logic of one or more controllers of the control module 1304. For one embodiment, at least one of the processor(s) 1302 may be integrated on the same die with logic of one or more controllers of the control module 1304 to form a system on chip (SoC).

In various embodiments, apparatus 1300 may be, but is not limited to being: a server, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.), among other terminal devices. In various embodiments, the apparatus 1300 may have more or fewer components and/or different architectures. For example, in some embodiments, apparatus 1300 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and a speaker.

The device can adopt a main control chip as a processor or a control module, sensor data, position information and the like are stored in a memory or an NVM/storage device, a sensor group can be used as an input/output device, and a communication interface can comprise a network interface.

The embodiment of the application also provides electronic equipment, which comprises: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform a method as described in one or more of the embodiments herein.

Embodiments also provide one or more machine-readable media having executable code stored thereon that, when executed, cause a processor to perform a method as described in one or more of the embodiments of the present application.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 exception handling terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable exception handling terminal, 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 exception handling terminal equipment 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 exception handling terminal device to cause a series of operational steps to be performed on the computer or other programmable terminal device to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal device provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present embodiments 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. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the present application.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The foregoing has described in detail a control method, a control device, an electronic apparatus and a storage medium provided in the embodiments of the present application, where specific examples are applied to illustrate the principles and embodiments of the present application, and the above description of the embodiments is only used to help understand the method and core idea of the present application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A control method, characterized in that the method comprises:

detecting an operation speed value of a target device;

2. The method according to claim 1, wherein the method further comprises:

determining a first drive device having a fault;

determining second target frequency information according to the information of the second driving device and the first target frequency information; the second drive is different from the first drive;

and sending the second target frequency information to a second driving device so that the driving device drives the target device according to the second target frequency information.

3. The method of claim 2, wherein determining second target frequency information based on the information of the second driving apparatus and the first target frequency information comprises:

And adjusting the first target frequency information according to the information of the second driving device to obtain second target frequency information.

4. The method of claim 2, wherein determining second target frequency information based on the information of the second driving apparatus and the first target frequency information comprises:

and if the number of the first driving devices meets the preset condition and the running speed value is smaller than the preset value, determining second target frequency information according to the number of the second driving devices and the first target frequency information.

5. The method according to claim 1, wherein the method further comprises:

determining a first drive device having a fault;

and outputting fault prompt information corresponding to the first driving device.

6. The method according to any one of claims 1 to 5, further comprising:

determining third target frequency information according to difference information between the running speed value and the target speed value under the condition that the running speed value is larger than or equal to a preset value;

and sending the third target frequency information to a driving device so that the driving device drives the target device according to the third target frequency information.

7. A control apparatus, characterized in that the apparatus comprises:

the detection module is used for detecting the running speed value of the target device;

8. A sorting system, comprising: control means, drive means and transfer means;

wherein the conveying device is used for conveying the logistics objects;

9. An electronic device, comprising: a processor; and

Memory having executable code stored thereon that, when executed, causes the processor to perform the method of one or more of claims 1-6.

10. One or more machine readable media having executable code stored thereon that, when executed, causes a processor to perform the method of one or more of claims 1-6.