Linear motor equipment, control method and device thereof and readable storage medium

Abstract

The invention provides a linear motor device, a control method and device thereof and a readable storage medium, and the method comprises the steps: obtaining the operation historical information corresponding to a mover module after detecting that the mover module completes the motion, and obtaining an obtaining result; wherein the operation historical information is obtained based on processing operation experienced by the mover module before the mover module executes the action; controlling the mover module to execute a next action based on an acquisition result of the operation historical information and a current action completion result of the mover module, so that the mover module cooperates with the target equipment; wherein the target equipment is the operation equipment matched with the obtained result and the completion result of the current action in the multiple pieces of operation equipment. According to the method, the influence of operation equipment with long operation time on conveying can be reduced, so that the conveying efficiency of the mover module is improved, and the production efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of transportation control technology, and in particular to a linear motor device and a control method, device and readable storage medium thereof. Background Art

[0002] In existing automated production systems, mechanical transmission equipment (such as belt conveyors) is used to transport objects, and operating equipment for performing corresponding processing operations is provided in different links (such as loading link, processing link, unloading link, etc.).

[0003] The conveying efficiency of mechanical transmission equipment is affected by operating equipment with a long single operation time. Since mechanical transmission equipment uses a conveying component (such as a conveyor belt component) to transport the entire process, operating equipment with a long single operation time will indirectly affect the operating efficiency of other operating equipment, resulting in a decrease in the production efficiency of the automated production system. Summary of the invention

[0004] The present application provides a linear motor device and a control method, apparatus and readable storage medium thereof, which can reduce the impact of operating equipment with a long operating time on transportation, thereby improving the transportation efficiency of the mover module, and further improving production efficiency.

[0005] In a first aspect, a control method for a linear motor device is provided, wherein the linear motor device comprises a plurality of mover modules and a stator wire body, a plurality of operating devices are distributed around the stator wire body, each mover module moves along the stator wire body and passes through each operating device, and each mover module is independently controlled; the control method comprises: when it is detected that the mover module completes this action, obtaining operation history information corresponding to the mover module and obtaining an acquisition result; wherein the operation history information is obtained based on the processing operation experienced by the mover module before performing this action; based on the acquisition result of the operation history information and the completion result of this action of the mover module, controlling the mover module to perform the next action so that the mover module cooperates with a target device; wherein the target device is an operation device among the plurality of operation devices that matches the acquisition result and the completion result of this action.

[0006] In a second aspect, a control device for a linear motor device is provided, the linear motor device comprising:

[0007] A plurality of movable submodules and a stator wire body, a plurality of operating devices are distributed around the stator wire body, each movable submodule moves along the stator wire body and passes through each operating device, and each movable submodule is independently controlled; the control device comprises: an acquisition unit, for acquiring operation history information corresponding to the movable submodule and obtaining an acquisition result after detecting that the movable submodule completes the current action; wherein the operation history information is obtained based on the processing operation experienced by the movable submodule before executing the current action; a control unit, for controlling the movable submodule to execute the next action based on the acquisition result of the operation history information and the completion result of the current action of the movable submodule, so that the movable submodule cooperates with the target device; wherein the target device is an operation device determined according to the acquisition result and the completion result of the current action among the plurality of the operating devices.

[0008] In a third aspect, a linear motor device is provided, comprising: a plurality of mover modules, a stator wire body and a control device; a plurality of operating devices are distributed around the stator wire body; each of the mover modules moves along the stator wire body and passes through each of the operating devices; the control device is used to execute the control method of the linear motor device described in the first aspect.

[0009] In a fourth aspect, a computer-readable storage medium is provided, in which at least one program code is stored, and the program code is loaded and executed by a processor to implement the operations performed by the control method of the linear motor device.

[0010] In the technical solution provided in the embodiment of the present application, since the operation history information corresponding to the mover module is obtained based on the processing operation experienced by the mover module before executing this action, it can characterize the operation status of the processing operation previously experienced by the mover module, so that by obtaining the operation history information corresponding to the mover module, the historical operation status of the mover module can be traced. The completion result of this action reflects the actual completion status of this action of the mover module. Combined with the historical operation status of the mover module and the actual completion status of this action of the mover module, it can determine the next action of the mover module and the target device with which the mover module will cooperate next. Therefore, based on the operation history information that can trace the historical operation status of the mover module and the actual completion status of this action of the mover module, it is beneficial to control the mover module to cooperate with the adapted target device, avoid the mover module from cooperating with an incompatible operating device, and thus save delivery time. Furthermore, since the multiple mover modules of the linear motor device are independently controlled, that is, the movement control of one mover module may not be constrained by the movement control of another mover module, by combining different acquisition results and the results of the current action completion, the movement stroke of each mover module can be flexibly controlled so that each mover module cooperates with the corresponding target device, reducing the impact of non-target devices on the transport of the mover module. Therefore, the technical solution provided in the embodiment of the present application can improve the transport efficiency of the mover module, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a scenario schematic diagram of a control method for a linear motor device provided in an embodiment of the present application;

[0012] Figure 2 is a schematic flow chart of a control method of a linear motor device provided in an embodiment of the present application;

[0013] Figure 3 is a schematic flow chart of another control method of a linear motor device provided in an embodiment of the present application;

[0014] Figure 4 is a schematic diagram of a normal operation process of a mover module in an automated production system involving a cutting process provided by an embodiment of the present application;

[0015] Figure 5 is a schematic diagram of an operation flow of multiple mover modules in an automated production system involving a cutting process provided in an embodiment of the present application;

[0016] Figure 6 It is a schematic diagram of an implementation process of obtaining target control parameters in an automated production system involving a cutting process provided by an embodiment of the present application;

[0017] Figure 7is a schematic diagram of an operation flow of multiple mover modules in an automated production system involving an assembly process provided by an embodiment of the present application;

[0018] Figure 8 It is a schematic diagram of the normal operation process of a mover module in an automated production system involving logistics transportation provided by an embodiment of the present application;

[0019] Fig. 9 It is a schematic diagram of the operation process of a mover module in the case of a feeding failure provided by an embodiment of the present application;

[0020] Fig.10 It is a schematic diagram of the operation process of the mover module when reloading is successful provided in an embodiment of the present application;

[0021] Fig.11 It is a schematic diagram of a mover module moving one round without load in the case of a feeding failure provided by an embodiment of the present application;

[0022] Fig.12 It is a schematic diagram of an operation flow of a mover module in the case of a processing failure provided by an embodiment of the present application;

[0023] Fig.13 It is a schematic diagram of a material feeding operation provided in an embodiment of the present application;

[0024] Fig.14 It is a schematic diagram of the operation process of a mover module in an automated production system involving a hybrid processing technology provided in an embodiment of the present application;

[0025] Fig.15 is a schematic diagram of the operation process of another mover module in an automated production system involving a hybrid processing technology provided in an embodiment of the present application;

[0026] Fig.16 It is a schematic diagram of the operation process of multiple mover modules in an automated production system involving a hybrid processing technology provided by an embodiment of the present application;

[0027] Fig.17 It is a schematic diagram of the unloading link after processing is completed in an automated production system involving a mixed processing technology provided in an embodiment of the present application;

[0028] Fig.18 It is a schematic diagram of a situation in which a processing failure occurs in an automated production system involving a hybrid processing technology provided by an embodiment of the present application;

[0029] Fig.19 It is a schematic diagram of normal operation of multiple mover modules in an automated production system involving a mixed sorting process provided by an embodiment of the present application;

[0030] Fig. 20 It is a schematic diagram of a situation in which material unloading fails in an automated production system involving a mixed sorting process provided by an embodiment of the present application;

[0031] Fig.21 It is a schematic diagram of a storage area after reallocation of a mover identification provided in an embodiment of the present application;

[0032] Fig. 22 is a schematic diagram of a linear motor device provided with a physical tag and a tag identification module provided in an embodiment of the present application;

[0033] Fig.23 This is a schematic diagram of the principle of combining tag identification information and mover identification to store operation history information provided by an embodiment of the present application;

[0034] Fig.24 is a structural schematic diagram of a control device for a linear motor device provided in an embodiment of the present application;

[0035] Fig.25 is a structural schematic diagram of a linear motor device provided in an embodiment of the present application;

[0036] Fig.26 This is a schematic diagram of a label identification module provided in an embodiment of the present application being arranged at a position corresponding to a transfer mechanism;

[0037] Fig. 27 It is another schematic diagram that the tag identification module provided in the embodiment of the present application is arranged at a position corresponding to the transfer mechanism;

[0038] Fig.28 It is a structural schematic diagram of another linear motor device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0040] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0041] In existing automated production systems, mechanical transmission equipment (such as belt conveyors) is used to transport objects, and operating equipment for performing corresponding processing operations is provided in different links (such as loading link, processing link, unloading link, etc.).

[0042] The conveying efficiency of mechanical transmission equipment is affected by operating equipment with a long single operation time. Since mechanical transmission equipment uses a conveying component (such as a conveyor belt component) to transport the entire process, operating equipment with a long single operation time will indirectly affect the operating efficiency of other operating equipment, resulting in a decrease in the production efficiency of the automated production system.

[0043] Based on this, the embodiment of the present application provides a control method for a linear motor device, which uses multiple mover modules of a linear motor device to transport objects, obtains the operation history information corresponding to the mover module, obtains the acquisition result, and controls the subsequent actions of the mover module based on the acquisition result and the completion result of the current action of the mover module. Since the operation history information corresponding to the mover module is obtained based on the processing operation experienced by the mover module before executing this action, it can characterize the operation status of the processing operation previously experienced by the mover module, so that by obtaining the operation history information corresponding to the mover module, the historical operation status of the mover module can be traced. The completion result of this action reflects the actual completion status of the current action of the mover module. Combined with the historical operation status of the mover module and the actual completion status of the current action of the mover module, the next action of the mover module and the target device that the mover module is to cooperate with next can be determined. Therefore, based on the operation history information that can trace the historical operation status of the mover module and the actual completion status of the current action of the mover module, it is beneficial to control the target device adapted to the mover module to cooperate, avoid the mover module from cooperating with an incompatible operation device, and thus save the transportation time. Furthermore, since the multiple mover modules of the linear motor device are independently controlled, that is, the movement control of one mover module may not be constrained by the movement control of another mover module, by combining different acquisition results and the results of the current action completion, the movement stroke of each mover module can be flexibly controlled so that each mover module cooperates with the corresponding target device, reducing the impact of non-target devices on the transport of the mover module. Therefore, the technical solution provided in the embodiment of the present application can improve the transport efficiency of the mover module, thereby improving production efficiency.

[0044] The following first describes the application scenarios of the embodiments of the present application.

[0045] Please refer to Figure 1 , which is a scenario diagram of a control method for a linear motor device provided by an exemplary embodiment of the present application.

[0046] like Figure 1As shown, the control method provided in an embodiment of the present application is applied to a linear motor device, which includes: a plurality of mover modules 110 and a stator wire body 120, a plurality of operating devices 130 are distributed around the stator wire body 120, each mover module 110 moves along the stator wire body 120 according to its moving direction and passes through each operating device 130, and each mover module 110 is independently controlled.

[0047] For example, each mover module 110 can be controlled by a local control device ( Figure 1 The local control device may be connected to a host computer to communicate and interact with the local control device, wherein the host computer may be a PLC (Programmable Logic Controller) or a PC (Personal Computer). The control method in the embodiment of the present application may be applied to an electronic device (i.e., a control device) having a control function, and the control device may be a local control device or a host computer, and the embodiment of the present application does not specifically limit this.

[0048] It is understandable that the stator wire can be obtained by splicing multiple stator modules, and the shape of the stator wire formed by splicing the stator modules along the moving direction of the mover module can be a straight line shape, an arc shape, or a combination of the two. It should be noted that, for ease of understanding, the straight line shape part of the stator wire is intercepted for description in the embodiments of the present application. Other shape parts of the stator wire, or stator wires of other shapes can be obtained by analogy with the description of the embodiments of the present application.

[0049] When the linear motor device is applied to the automated production system, according to the actual situation, the linear motor device can go through the material loading link and the material unloading link of the object, thereby realizing the function of logistics transportation; further, the linear motor device can also involve the object processing link, thereby realizing the function of object processing collaboration. It is understandable that the embodiments of the present application do not specifically limit the specific application scenarios of the linear motor device.

[0050] In addition, the operation links involved in the linear motor device in the embodiment of the present application are related to the operation devices deployed along the stator line. For example, among the multiple operation devices 130, at least one loading device and at least one unloading device may be included, and the linear motor device undergoes the loading link of the object and the unloading link of the object. If the multiple operation devices 130 also include processing equipment, the linear motor device may also involve the processing link of the object.

[0051] Exemplarily, the linear motor device may further include a positioning module ( Figure 1(not shown) is used to measure the position of each mover module 110, so as to realize the position positioning of each mover module 110. Among them, in terms of induction mode, the positioning module may include a contact sensor or a non-contact sensor; in terms of measurement principle, the positioning module may measure by one or more methods of light, electricity, and magnetism. For example, the positioning module may include: one or more combinations of resistance sensors, capacitance sensors, inductance sensors, laser sensors, photoelectric sensors, magnetic sensors, encoders, image sensors, and ultrasonic sensors, which are not limited in the embodiments of the present application.

[0052] It can be understood that, depending on the type of sensor specifically included in the positioning module, the positioning module (or some components of the positioning module) can be set in at least one of the stator body and the mover module, or the positioning module (or some components of the positioning module) can be independently set relative to the linear motor device.

[0053] The principle of how the stator filament 120 drives the mover module 110 to move is described below.

[0054] The mover module 110 includes a magnetic component having a magnetic field ( Figure 1 ), the stator body 120 may include an armature winding ( Figure 1 (not shown in the figure), a plurality of coils arranged in phase sequence may be provided in the armature winding, and the magnetic field around the armature winding is changed by periodically energizing the armature winding, so as to interact with the magnetic field of the magnetic component of the mover module 110, so as to achieve the purpose of driving the mover module 110 to move. For example, the mover module 110 may include a permanent magnet array for generating a constant magnetic field, and a changing magnetic field may be generated around the armature winding by controlling the energizing direction and / or the magnitude of the energizing current of the coil in the armature winding, and the changing magnetic field interacts with the constant magnetic field, so as to drive the mover module 110 to move relative to the stator wire 120.

[0055] It should be noted that the mover module 110 is not limited to using a permanent magnet array to achieve magnetic coupling with the stator wire 120. The mover module 110 can also use an excitation component (such as a coil, etc.) that can excite and generate a magnetic field to achieve magnetic coupling with the stator wire 120, thereby driving the mover module 110 to move relative to the stator wire 120. The embodiment of the present application is not limited to this.

[0056] It should be noted that Figure 1 An optional example is provided for explaining the structure and driving method of the linear motor device. The structure and method of the linear motor device involved in the embodiment of the present application can be adjusted and modified according to actual conditions. The embodiment of the present application does not limit the specific structure and specific driving method of the linear motor device.

[0057] Before the linear motor equipment is officially put into operation, it is necessary to pre-configure the moving stroke of the mover module through each operating device in sequence and the specific cooperation process between the mover module and each operating device in the control device of the linear motor equipment. However, as the number of operating links increases, the total time for the mover module to complete a round of transportation through each operating device increases.

[0058] Based on this, the operation history information of the mover module and the completion result of the current action of the mover module can be used to improve the conveying efficiency of the mover module, thereby improving the production efficiency. The specific implementation of the control method of the linear motor device of the embodiment of the present application is described below with reference to specific examples.

[0059] Please refer to Figure 2 , which is a schematic flow chart of a control method for a linear motor device provided by an exemplary embodiment of the present application.

[0060] For example, Figure 2 As shown, the control method includes:

[0061] Step 201: when it is detected that the mover module completes the current action, the operation history information corresponding to the mover module is obtained to obtain an acquisition result; wherein the operation history information is obtained based on the processing operations experienced by the mover module before executing the current action.

[0062] Since the mover module may need to perform different actions at different times, the current action of the mover module can be understood as the action that the mover module needs to perform at this moment. Among them, the mover module can perform a stationary action (such as the mover module is in a stationary state, or the mover module enters a stationary state from a moving state), or the mover module can also perform a moving action (such as the mover module enters a moving state from a stationary state, or the mover module is in a moving state); the action performed by the mover module may be only related to itself, or the action performed by the mover module may be related to the operating device.

[0063] Exemplarily, the detection of the moving sub-module completing the action described in the embodiment of the present application may specifically include: detecting that the moving sub-module completes the startup action; or detecting that the moving sub-module completes the collaboration action with the collaboration device, wherein the collaboration device is an operating device among multiple operating devices that collaborates with the moving sub-module.

[0064] Specifically, the electronic device with detection function (i.e., detection device) included in the linear motor equipment can be used to determine whether the mover module has completed the action. The linear motor equipment detection device can make a judgment based on the situation of the mover module itself, based on the operation action of the cooperative equipment, or based on the operation end signal from the cooperative equipment. The operation end signal can be generated by the cooperative equipment when the operation is successful or the operation fails.

[0065] For example, the detection device of the linear motor device can determine whether the mover module has completed the current startup action based on the condition of the mover module itself. For another example, the detection device of the linear motor device can determine whether the mover module has completed the current collaborative action based on the operation action of the collaborative device or based on the operation end signal from the collaborative device.

[0066] It can be understood that, in practical applications, the detection device and the control device can be implemented by the same or different electronic devices.

[0067] Depending on the type of operation performed by the collaborative equipment, the collaborative equipment can be a loading equipment, a processing equipment, or an unloading equipment.

[0068] When the cooperative device is a feeding device, the cooperative action between the mover module and the feeding device can be understood as: the action that the mover module needs to perform in order for the feeding device to complete the feeding operation. Specifically, the cooperative action can be that the mover module is stationary at the corresponding position of the feeding device, or moves slowly at the corresponding position of the feeding device, so as to provide conditions for the feeding device to complete the feeding operation.

[0069] When the cooperative device is a processing device, the cooperative action between the mover module and the processing device can be understood as: the action that the mover module needs to perform in order for the processing device to complete the processing operation. Specifically, the cooperative action can be that the mover module is stationary at the corresponding position of the processing device, or moves slowly at the corresponding position of the processing device, so as to provide conditions for the processing device to complete the processing operation.

[0070] When the cooperative device is a material unloading device, the cooperative action between the mover module and the material unloading device can be understood as: the action that the mover module needs to perform in order for the material unloading device to complete the material unloading operation. Specifically, the cooperative action can be that the mover module is stationary at the corresponding position of the material unloading device, or moves slowly at the corresponding position of the material unloading device, so as to provide conditions for the material unloading device to complete the material unloading operation.

[0071] It is understandable that the specific situation of the moving submodule completing this action may be that the moving submodule executes this action successfully, or it may be that the moving submodule executes this action unsuccessfully. Specifically, when the moving submodule completes the startup action, it may be that the moving submodule executes the startup action successfully, or it may be that the moving submodule executes the startup action unsuccessfully; when the moving submodule completes the collaborative action with the collaborative device, it may be that the moving submodule executes the collaborative action successfully, or it may be that the moving submodule executes the collaborative action unsuccessfully. Optionally, when judging that the moving submodule completes this action based on the operation end signal from the collaborative device, the success or failure of the collaborative action executed by the moving submodule may be judged based on the operation end signal.

[0072] After detecting that the mover module completes the current action, the historical information of the mover module is traced by acquiring the operation history information corresponding to the mover module, so as to ensure the accuracy of the movement control of the mover module and improve the control efficiency of the mover module.

[0073] Among them, the operation history information can be read by the local control device or the host computer of the linear motor equipment. The operation history information is obtained based on the processing operations experienced by the mover module before performing this action. In other words, the operation history information comes from the processing operations experienced by the mover module before completing this action, and the operation history information can characterize the operation conditions of the processing operations previously experienced by the mover module. The processing operations previously experienced by the mover module may include: the processing operations performed by the operating device (if any) that the mover module has faced; further, the processing operations previously experienced by the mover module may also include: at least part of the processing operations performed by the operating device currently facing the mover module.

[0074] Exemplarily, the operation history information may be sent by the operating device to the linear motor device, or may be detected by a detection device included in the linear motor device.

[0075] Exemplarily, the specific content included in the operation history information is related to the specific operation type performed by the operating device. The operation history information at least includes: operation result sub-information, and the operation result sub-information specifically includes at least one of the following: loading result sub-information indicating whether the loading operation is successful, unloading result sub-information indicating whether the unloading operation is successful, and processing result sub-information indicating whether the processing operation is successful.

[0076] For a loading operation or unloading operation, the operation history information may also include: object feature sub-information of the loading object or unloading object, the object feature sub-information may be used to characterize the sub-information of the physical data of the object, and / or, sub-information used to distinguish objects. For example, the sub-information used to characterize the physical data of the object may include: object weight sub-information, object size sub-information, object shape sub-information, etc. The sub-information used to distinguish objects may include: object identification sub-information, etc. Among them, the object weight sub-information, object size sub-information, and object shape sub-information may be information obtained by querying the object identification sub-information.

[0077] For processing operations, the operation history information may also include: processing sub-information, such as sub-information used to characterize a specific process type, sub-information used to indicate the processed object, and / or sub-information used to provide parameters required for the processing process. For example, the processing sub-information may include: process type sub-information, processed feature sub-information, processing parameter sub-information, etc. The process type sub-information may be used to characterize the cutting process type, welding process type, assembly process type, etc. The cutting process type may further characterize one or more process types of turning, milling, planing, and grinding.

[0078] For the cutting process, the physical parameters of one or more objects originally loaded in the moving module will be changed. The processed characteristic sub-information can indicate at least one of the characteristic information of the object before processing and the characteristic information of the object after processing. The characteristic information of the object before processing can include the weight sub-information of the object before processing, the size sub-information of the object before processing, the shape sub-information of the object before processing, the identification sub-information of the processed object, etc. The characteristic information of the object after processing can include the weight sub-information of the object after processing, the size sub-information of the object after processing, the shape sub-information of the object after processing, the identification sub-information of the processed object, etc.

[0079] For welding and assembly processes, objects will be added on the basis of the objects originally loaded on the movable module. The processed characteristic sub-information can indicate at least one of the characteristic information of the original object and the characteristic information of the newly added object. The characteristic information of the original object may include the weight sub-information of the original object, the size sub-information of the original object, the shape sub-information of the original object, and the identification sub-information of the original object. The characteristic information of the newly added object may include the weight sub-information of the newly added object, the size sub-information of the newly added object, the shape sub-information of the newly added object, and the identification sub-information of the newly added object.

[0080] Step 202: Based on the acquisition result of the operation history information and the completion result of the current action of the mover module, control the mover module to perform the next action, so that the mover module cooperates with the target device.

[0081] Among them, the target device is the operating device that matches the acquisition result and the result of the current action completion among multiple operating devices. It can be understood that the acquisition result of the operation history information can characterize the operation status of the processing operation previously experienced by the mover module, and the result of the current action completion reflects the actual completion status of the mover module's current action. Therefore, the acquisition result of the operation history information and the result of the current action completion of the mover module determine the next action of the mover module and the target device that the mover module will cooperate with next.

[0082] Exemplarily, the above-mentioned controlling the moving submodule to perform the next action includes at least one of the following: controlling the movement of the moving submodule; and controlling the communication between the moving submodule and the target device.

[0083] The control of the movement of the moving submodule described in the embodiment of the present application can be understood as: controlling the movement of the moving submodule to the position corresponding to the target device, such as controlling the movement of the moving submodule according to the moving subcontroller parameters and the current state quantity of the moving submodule obtained by measurement. The current state quantity of the moving submodule may include the current position, current speed, current acceleration, etc. of the moving submodule.

[0084] The communication situation between the controlling moving submodule and the operating device described in the embodiment of the present application can be understood as: a communication strategy for controlling the moving submodule and the operating device during the process of the moving submodule moving to the position corresponding to the operating device.

[0085] In actual applications, control parameters for controlling the mover module can be pre-configured in the control device, so as to control the movement of the mover module and / or the communication between the mover module and the operating device through the control parameters. A corresponding relationship is pre-established between the control parameters and the results of obtaining the operation history information and the results of completing the current action of the mover module. Therefore, during the formal operation of the linear motor device, based on the results of obtaining the operation history information and the results of completing the current action of the mover module, the control parameters for indicating the next action of the mover module can be obtained from the pre-configured control parameters, that is, the target control parameters are obtained from the pre-configured control parameters, and based on the target control parameters, the mover module is controlled to perform the next action.

[0086] Specifically, the control parameters may include a mover control sub-parameter, which may be determined based on the acquisition result of the operation history information and the completion result of the current action of the mover module. A corresponding relationship is pre-established between the mover control sub-parameter, the acquisition result of the operation history information and the completion result of the current action of the mover module, and corresponding mover control sub-parameters may be obtained for different acquisition results.

[0087] Furthermore, the actuator control sub-parameters include any one of the following or a combination thereof: speed control data, acceleration control data, time control data, anti-collision distance control data, and target position data. These control data are introduced below:

[0088] The speed control data is used to indicate the moving speed of the moving submodule during the process of moving to the operating device. The moving submodule moving to the operating device can be understood as: the moving submodule moving to the position corresponding to the operating device, such as the moving submodule moving to the position facing the operating device, so as to cooperate with the operating device. Optionally, the speed control data includes an expected speed value and / or a speed limit value.

[0089] The expected speed value is used to characterize the speed value that the mover module is expected to be at when it reaches the position corresponding to the operating device. If the mover control subparameter includes the expected speed value, the mover module can be controlled to move to the position corresponding to the operating device according to the expected speed value, so that the speed value at which the mover module reaches the position corresponding to the operating device is the expected speed value.

[0090] The speed limit value is used to characterize the upper speed limit that cannot be exceeded and / or the lower speed limit that cannot be lower than during the movement of the mover module to the operating device. If the mover control sub-parameter includes an upper speed limit, the speed value of the mover module in the process of moving to the operating device can be controlled not to exceed the upper speed limit according to the upper speed limit and the current speed of the mover module. If the mover control sub-parameter includes a lower speed limit, the speed value of the mover module in the process of moving to the operating device can be controlled not to be lower than the lower speed limit according to the lower speed limit and the current speed of the mover module. Among them, the movement process of the mover module to the operating device is also the process of the mover module moving to the position corresponding to the operating device.

[0091] The acceleration control data is used to indicate the acceleration of the mover module during the process of moving to the operating device. If the mover control subparameter includes the acceleration control data, the acceleration of the mover module during the process of moving to the operating device can be controlled to be equal to the acceleration indicated by the acceleration control data according to the acceleration control data and the current acceleration of the mover module.

[0092] The time control data is used to indicate the time taken by the mover module to move to the operating device. If the mover control subparameter includes the time control data, the actual time taken by the mover module to move to the operating device can be controlled according to the time control data to be equal to the time indicated by the time control data.

[0093] The anti-collision distance control data is used to indicate the anti-collision distance between the mover module and other mover modules during the movement of the mover module to the operating device. The anti-collision distance can be understood as: the distance that prevents the mover module from colliding with other mover modules during the movement. If the mover control sub-parameter includes the anti-collision distance control data, the distance between the mover module and its adjacent mover modules can be controlled to be greater than or equal to the above anti-collision distance during the movement of the mover module to the operating device according to the anti-collision distance control data, so as to avoid collisions between the mover modules.

[0094] The target position data is used to indicate the position of the operating device. If the mover control subparameter includes the target position data, the mover module can be controlled to move to the position corresponding to the position of the operating device according to the target position data and the current position of the mover module, so that the mover module and the operating device can cooperate.

[0095] Specifically, the control parameter may include a communication control sub-parameter, and the communication control sub-parameter is used to indicate a communication strategy related to the moving sub-module and the operating device.

[0096] The communication control sub-parameter can be determined based on the acquisition result of the operation history information and the completion result of the current action of the actuator module. The communication control sub-parameter has a pre-established correspondence with the acquisition result of the operation history information and the completion result of the current action of the actuator module. For different acquisition results, the corresponding communication control sub-parameter can be obtained.

[0097] Exemplarily, the communication control sub-parameter includes: a first communication control sub-parameter and / or a second communication control sub-parameter.

[0098] The first communication control sub-parameter is used to indicate that when the moving sub-module is detected to move to the operating device, arrival information is sent to the operating device. That is, when it is detected that the moving sub-module moves to the position corresponding to the operating device, according to the first communication control sub-parameter, the arrival information is sent to the operating device, so that the operating device confirms that the moving sub-module has arrived, and then cooperates with the moving sub-module to perform related actions.

[0099] The second communication control sub-parameter is used to indicate that when it is detected that the moving sub-module moves to the operating device, it is forbidden to send arrival information to the operating device, or to send prohibition operation information to the operating device. That is to say, the second communication control sub-parameter is used to indicate that when the moving sub-module moves to the position corresponding to the operating device (i.e., non-target device) that is not the target device, it is forbidden to send arrival information to the non-target device, so that the target device does not perform the relevant processing operation without receiving the arrival information, and the moving sub-module does not cooperate with the non-target device, thereby avoiding the moving sub-module from spending too much time on an unmatched operating device and avoiding the non-target device from performing invalid processing operations. Alternatively, the second communication control sub-parameter is used to indicate that when the moving sub-module moves to the position corresponding to the non-target device, it sends prohibition operation information to the non-target device, so that the non-target device does not perform the relevant processing operation when receiving the prohibition operation information, and the moving sub-module does not cooperate with the non-target device, thereby avoiding the moving sub-module from spending too much time on an unmatched operating device and avoiding the non-target device from performing invalid processing operations.

[0100] In the embodiment of the present application, when it is detected that the mover module completes the startup action, or when it is detected that the mover module completes the collaborative action with the collaborative device, it is determined that the mover module has completed this action, which covers all possible action situations of the mover module, which is conducive to timely triggering information tracing and mobile control of the mover module, and improving the control efficiency of the mover module. After detecting that the mover module completes this action, by obtaining the operation history information corresponding to the mover module, the mover module is traced for historical information, so as to ensure the accuracy of the mobile control of the mover module and improve the control efficiency of the mover module. Based on the operation history information that can trace the historical operation of the mover module and the actual completion of the mover module's action, it is conducive to controlling the mover module to cooperate with the adapted target device, avoiding the mover module from cooperating with the unmatched operating device, thereby saving the delivery time. In addition, since the multiple mover modules of the linear motor device are independently controlled, that is, the mobile control of one mover module can be free from the mobile control constraints of another mover module, by combining different acquisition results and the completion results of this action, the moving stroke of each mover module can be flexibly controlled, so that each mover module cooperates with the corresponding target device, and reduces the impact of non-target devices on the delivery of the mover module. By controlling the movement of the mover module and / or controlling the communication between the mover module and the target device, it is beneficial to comprehensively control the mover module.

[0101] In some embodiments, in order to facilitate the acquisition of the operation history information corresponding to the mover module, the correspondence between the mover module and the storage area can be pre-established, so that each mover module can have a corresponding storage area, so as to facilitate the storage and reading of the operation history information. Among them, the storage area corresponding to the mover module can be: the storage area of ​​an independent storage unit (such as an independent register, an independent memory, etc.) allocated to the mover module, or the storage area corresponding to the specified address range in the storage unit can be allocated as the storage area corresponding to the mover module.

[0102] For example, see Figure 4 , Figure 4 A schematic diagram of the normal operation process of a mover module in an automated production system involving cutting technology. Figure 4 The storage area corresponding to the mover module 1 is shown in the figure. The mover module 1 passes through a loading device, several processing devices (N processing devices in the figure) and a unloading device.

[0103] Understandably, Figure 4 This is only an example for ease of understanding. In actual applications, there may be multiple mover modules, each of which has a corresponding storage area. Figure 5 , Figure 5 Schematic diagram of the normal operation process of multiple mover modules in an automated production system involving cutting technology. Figure 5 The plurality of mover modules include: mover module 1 to mover module P. Figure 5 The storage area corresponding to the mover identification 1 of the mover module 1 is storage area 1, the storage area corresponding to the mover identification 2 of the mover module 2 is storage area 2, the storage area corresponding to the mover identification P-2 of the mover module P-2 is storage area P-2, the storage area corresponding to the mover identification P-1 of the mover module P-1 is storage area P-1, and the storage area corresponding to the mover identification P of the mover module P is storage area P. The embodiment of the present application does not specifically limit the number of mover modules.

[0104] It should be noted that, in actual applications, the mover module may include components for loading objects, but for the sake of intuitive understanding and description, they are not shown in the drawings of all examples. In addition, the dotted arrow box in the figure is only used to illustrate the storage area corresponding to the mover module. In actual applications, the physical device where the storage area corresponding to the mover module is located can be set in the module of the linear motor device (such as the mover module, the stator module or the control device), or independently set in the linear motor device, and there is no limitation on this.

[0105] In some embodiments, the correspondence between the mover module and the storage area can be established through the mover identification. Specifically, before obtaining the operation history information corresponding to the mover module, it can also include: obtaining the mover identification of the mover module; according to the mover identification, establishing the correspondence between the mover module and the storage area, and the storage area is used to store the operation history information. Among them, different mover identifications are used to identify different mover modules, and the correspondence between the mover module and the storage area can be established through the mover identification, that is, one mover identification corresponds to one storage area.

[0106] In practical applications, different mover identifiers can be randomly assigned to multiple mover modules through a software program, so that each mover module can be distinguished by the mover identifier. Since there is a one-to-one correspondence between the mover identifier and the mover module, a correspondence can be established between the mover identifier and the operation history information of the mover module, so as to facilitate the acquisition of the operation history information of the mover module. Specifically, when it is detected that the mover module has completed this action, the operation history information corresponding to the mover module can be obtained based on the mover identifier and the pre-established correspondence between the mover identifier and the operation history information of the mover module.

[0107] In the case where the mover module collaborates with a collaborative device, the result of the action performed by the mover module is related to the operation result of the collaborative device, that is, the result of the action completed by the mover module includes the operation information of the collaborative device, such as information indicating a successful operation or a failed operation. Therefore, after obtaining the operation history information corresponding to the mover module, it can also include: based on the mover identification of the mover module, storing the operation information corresponding to the action completed by the mover module as operation history information. Therefore, when the mover module performs other actions later, the operation information corresponding to the action of the mover module can be traced back as operation history information to control the movement stroke of the mover module.

[0108] Therefore, according to the mover identification, the corresponding relationship between the mover module and the storage area is established, so that during the formal operation of the linear motor equipment, based on the mover identification of different mover modules and the corresponding relationship, the operation history information corresponding to the different mover modules can be accurately obtained. In addition, based on the mover identification of the mover module, the operation information corresponding to the current action of the mover module is stored as the operation history information, so that when the mover module performs other actions later, the operation information corresponding to the current action of the mover module can be traced as the operation history information, so as to provide an effective reference for the subsequent control of the mover module.

[0109] To facilitate the understanding and application of the technical solutions provided in the embodiments of the present application, a schematic description is provided below in conjunction with the accompanying drawings.

[0110] Please refer to Figure 3 , which is a schematic flow chart of another control method for a linear motor device provided by an exemplary embodiment of the present application.

[0111] Step 301: Obtain the mover identification of the mover module.

[0112] Step 302: Establish a correspondence between the mover module and the storage area according to the mover identifier.

[0113] Step 303: When it is detected that the mover module completes this action, based on the mover identification of the mover module, the operation history information corresponding to the mover module is obtained to obtain an acquisition result; wherein the operation history information is obtained based on the processing operations experienced by the mover module before executing this action.

[0114] Step 304: Based on the mover identification of the mover module, the operation information corresponding to the action completed by the mover module is stored as the operation history information.

[0115] Step 305: Based on the acquisition result of the operation history information and the completion result of the current action of the mover module, control the mover module to perform the next action, so that the mover module cooperates with the target device.

[0116] It is understandable that the specific implementation of the above steps 303 and 305 can refer to the description of the above related parts (such as the above steps 201 and 202), which will not be repeated here. There is no necessary order between the above steps 304 and 305. Steps 304 and 305 can be executed in sequence according to actual conditions, or they can be executed synchronously. The embodiment of the present application does not impose specific restrictions on this.

[0117] In step 303, when it is detected that the mover module has completed the current action, based on the mover identifier of the mover module and the corresponding relationship established in step 302, the storage area corresponding to the mover identifier is determined, and then the operation history information corresponding to the mover module is obtained from the storage area, so that for different mover modules, the operation history information can be obtained through their corresponding storage areas. Figure 5 , obtain the operation history information of the mover module 1 from the storage area 1 corresponding to the mover module 1, and obtain the operation history information of the mover module P from the storage area P corresponding to the mover module P. The operation history information of the remaining mover modules is obtained in a similar manner, which will not be repeated here.

[0118] In step 304, when it is detected that the mover module has completed this action, the storage area corresponding to the mover identifier can be determined based on the mover identifier of the mover module and the corresponding relationship established in step 302, and then the operation information corresponding to the mover module completing this action is stored in the storage area as the operation history information. Figure 5 When it is detected that the moving submodule P-1 completes the loading operation in cooperation with the loading device, the operation information corresponding to the action completed by the moving submodule P-1 is stored in the storage area P-1. The stored operation information includes: the loading result sub-information indicating the successful loading ( Figure 5 The schematic diagram shows "loading success") and the characteristic sub-information of object 1 ( Figure 5 When it is detected that the mover module P-2 completes the processing operation in cooperation with the processing equipment 1, the operation information corresponding to the action completed by the mover module P-2 is stored in the storage area P-2. The stored operation information includes: the processing result sub-information indicating the processing failure ( Figure 5 The schematic diagram is shown as “Processing 1 failed”). The operation information is stored in a similar manner for the remaining mover modules, which will not be described in detail here.

[0119] Exemplarily, one implementation method of establishing a correspondence between a mover module and a storage area according to a mover identification in an embodiment of the present application includes: constructing a data structure corresponding to each mover module; and establishing a correspondence between the mover module and the corresponding data structure according to the data structure corresponding to each mover module and the mover identification. The data structure includes a processing operation variable for recording a processing operation situation, and the processing operation variable is associated with the storage area through address mapping.

[0120] Optionally, a data structure corresponding to each movable submodule can be constructed according to the operation links involved in the actual automated production system. The data structure includes processing operation variables for recording processing operation conditions, such as loading operation variables, processing operation 1 variables, ... processing operation N variables, and unloading variables corresponding to movable submodule 1. The loading operation variable is used to record the operation history information corresponding to the loading operation, the processing operation 1 variable is used to record the operation history information corresponding to the processing operation 1, and so on. The processing operation N variable is used to record the operation history information corresponding to the processing operation N, and the unloading variable is used to record the operation history information corresponding to the unloading operation. The processing operation variables are associated with the storage area through address mapping, that is, there is an address mapping relationship between the processing operation variables corresponding to each movable submodule and the storage area corresponding to each movable submodule.

[0121] The corresponding relationship between the mover module and the corresponding data structure is established through the mover identification of the mover module, that is, the index relationship between the mover module and the processing operation variable is established through the mover identification, and since there is an address mapping relationship between the processing operation variable and the storage area. Therefore, through the mover identification of the mover module, the processing operation variable corresponding to the mover module can be found, and then through the corresponding relationship between the processing operation variable and the storage area, the operation history information stored in the storage area corresponding to the processing operation variable is obtained by using the address mapping method.

[0122] It should be noted that the above example is only a method for establishing a correspondence between a mover module and a storage area provided in an embodiment of the present application. In a specific implementation, other methods can also be used to establish a correspondence between a mover module and a storage area. For example, a region identifier can be set for each storage area, and the region identifier can be bound to a mover module to establish a correspondence between the mover module and the storage area. The embodiment of the present application does not specifically limit the method for establishing a correspondence between a mover module and a storage area.

[0123] In some embodiments, after determining the mover identification automatically assigned to the mover module, the corresponding storage area may be determined by the automatically assigned mover identification.

[0124] Since the mover identification assigned by the software program is random, in order to reasonably reduce the total number of mover identifications and improve processing efficiency, different mover identifications can be assigned to different storage areas so that different mover identifications can correspond to different storage areas. Based on this, the mover identification of the mover module can be automatically assigned by any of the following two allocation methods:

[0125] Allocation method 1: Determine the first target storage area according to the free capacity of the storage area corresponding to the assignable mover identifier; use the mover identifier corresponding to the first target storage area as the mover identifier assigned to the mover module. The first target storage area is a storage area whose free capacity meets the preset capacity condition among the storage areas corresponding to the assignable mover identifiers.

[0126] The free capacity of the above-mentioned storage area can be understood as the size of the storage capacity of the storage area where no information is written. The above-mentioned preset capacity condition can be used to measure whether the storage area can be used to store operation history information. In a specific implementation, the preset capacity condition can be set according to the actual situation. For example, the preset capacity condition can be used to select the storage area with the largest free capacity in the storage area corresponding to each assignable actuator identifier; for another example, the preset capacity condition can be used to select the storage area with the free capacity exceeding the capacity threshold in the storage area corresponding to each assignable actuator identifier, wherein the meaning of "exceeding" can be determined as greater than or greater than or equal to according to the specific situation.

[0127] Through allocation method 1, the allocated mover identifier can be determined based on the free capacity, which is conducive to allocating the mover identifier corresponding to the storage area with larger free capacity to the mover module, ensuring effective use of the storage area.

[0128] Allocation method 2: Determine the second target storage area according to the storage duration of the information stored in the storage area corresponding to the assignable mover identifier; use the mover identifier corresponding to the second target storage area as the mover identifier assigned to the mover module. The second target storage area is a storage area in the storage area corresponding to the assignable mover identifier whose storage duration meets the preset duration condition.

[0129] The storage duration of the information stored in the above-mentioned storage area can be understood as: the duration from the moment the information is written to the storage area to the moment the mover identification needs to be assigned. The preset duration condition can be used to measure whether the information in the storage area can be overwritten by the operation history information obtained subsequently. Optionally, the duration condition can be set according to the duration for the mover module to complete a round of transportation, that is, the duration condition can be used to select the storage area corresponding to each assignable mover identification whose storage duration exceeds the duration of one round of transportation of the mover module, or, the duration condition can be used to select the storage area corresponding to each assignable mover identification whose information storage duration is the longest.

[0130] Through allocation method 2, the allocated mover identifier can be determined based on the storage duration, and the mover identifier corresponding to the storage area with a longer information storage time can be allocated to the mover module, thereby ensuring reasonable reuse of the storage area without affecting the motion control of the mover module.

[0131] In order to facilitate the storage and reading of the operation history information of each mover module, each mover module may correspond to its own storage area. Therefore, a read operation may be performed on the storage area corresponding to the mover module, and the result of the read operation may be that the operation history information is read, or it may be that the operation history information is not read, thereby obtaining a corresponding acquisition result. Based on this, the acquisition of the operation history information corresponding to the mover module described in the embodiment of the present application and obtaining the acquisition result include: performing a read operation on the storage area corresponding to the mover module, and generating a first acquisition result when the operation history information is not read, otherwise, generating a second acquisition result when the operation history information is read in the storage area corresponding to the mover module.

[0132] Exemplarily, since no operation history information is stored in the storage area corresponding to the initially started movable module, when it is detected that the movable module completes the initial startup action and a read operation is performed on the storage area corresponding to the movable module, the operation history information is not read, thereby generating a first acquisition result.

[0133] For the movable module that performs collaborative actions, operation history information may or may not be stored in its corresponding storage area. When it is detected that the movable module completes the collaborative action and a read operation is performed on the storage area corresponding to the movable module, a first acquisition result may be generated due to the failure to read the operation history information, or a second acquisition result may be generated due to the reading of the operation history information.

[0134] Exemplarily, the embodiment of the present application describes controlling the mover module to perform the next action based on the acquisition results of operation history information and the completion results of the current action of the mover module, including: acquiring target control parameters based on the acquisition results of operation history information and the completion results of the current action of the mover module, and controlling the mover module to perform the next action based on the target control parameters.

[0135] Among them, the target control parameter is a control parameter used to indicate the next action of the mover module. A mapping relationship is pre-established between the acquisition result of the operation history information and the completion result of the current action of the mover module and the target control parameter. For different acquisition results and the completion results of the current action of the mover module, the corresponding target control parameter is configured. Thus, the target control parameter can be obtained by querying the mapping relationship based on the acquisition result of the operation history information and the completion result of the current action of the mover module. Optionally, the target control parameter may include the above-mentioned mover control sub-parameter and / or communication control sub-parameter.

[0136] Exemplarily, the target control parameters include any one of the following or a combination thereof: speed control data, acceleration control data, time control data, anti-collision distance control data, and target position data. These target control parameters can be understood as the mover control sub-parameters described above, and their specific meanings can be found in the relevant descriptions above. To avoid repetition, they will not be repeated here.

[0137] Exemplarily, the target control parameters include: a communication control sub-parameter, which is used to indicate that when the moving sub-module is detected to move to the target device, arrival information is sent to the target device (in this case, the communication control sub-parameter can be understood as the first communication control sub-parameter described above); and / or, when the moving sub-module is detected to move to a non-target device, it is prohibited to send arrival information to the non-target device, or to send prohibition operation execution information to the non-target device (in this case, the communication control sub-parameter can be understood as the second communication control sub-parameter described above). The first communication control sub-parameter and the second communication control sub-parameter have been introduced above, and will not be repeated here to avoid repetition.

[0138] Exemplary, reference Figure 6 , Figure 6 It is a schematic diagram of an implementation process of obtaining target control parameters in an automated production system involving a cutting process provided in an embodiment of the present application.

[0139] Taking the mover module 1 as an example, under normal circumstances, when the mover module 1 is initially started, no operation history information is stored in its corresponding storage area. After the mover module is detected to have completed the startup action, according to the acquisition result of the operation history information (i.e., no operation history information, such as Figure 6 The schematic diagram shows blank operation history information 0) and the completion result of the current action of the mover module 1 (successful start-up), and obtains the corresponding control parameter 1 as the target control parameter. According to the control parameter 1, the mover module 1 is controlled to move toward the feeding equipment to cooperate with the feeding equipment to perform the feeding operation.

[0140] The control parameter 1 may include any one or a combination of the following:

[0141] Speed ​​control data, used to indicate the moving speed of the mover module (motor module 1 in this example) during the process of moving to the feeding device. The speed control data includes an expected speed value and / or a speed limit value, and the expected speed value indicates the speed value expected to be at when the mover module reaches the corresponding position of the feeding device. The speed limit value indicates the upper speed value that cannot be exceeded and / or the lower speed value that cannot be lowered during the process of the mover module moving to the feeding device. Acceleration control data, used to indicate the acceleration of the mover module during the process of moving to the feeding device. Time control data, used to indicate the time spent in the process of the mover module moving to the feeding device. Anti-collision spacing control data, used to indicate the anti-collision spacing between the mover module and other mover modules during the process of moving to the feeding device. Target position data, used to indicate the position of the feeding device. The first communication control sub-parameter is used to indicate that when the mover module is detected to move to the feeding device, the arrival information is sent to the feeding device. The second communication control sub-parameter is used to indicate that when the mover module is detected to move to a non-feeding device, the arrival information is prohibited from being sent to the non-feeding device, or the prohibition of executing the operation information is sent to the non-feeding device.

[0142] The loading device performs a loading operation on the mover module 1, placing the object 1 on the mover module 1. Accordingly, after detecting that the mover module 1 completes the cooperative action with the loading device, the linear motor device obtains the operation history information corresponding to the mover module 1 as the operation history information 1. The operation history information 1 may include: the characteristic sub-information of the object 1 (such as Figure 6 If the result of the current action of the mover module 1 indicates that the loading is successful with the loading device, then based on the result of the operation history information of the mover module 1 and the result of the current action, the corresponding control parameter 2 is obtained as the target control parameter, and according to the control parameter 2, the mover module 1 is controlled to move toward the processing device 1 for processing.

[0143] Further, after detecting that the mover module 1 completes the cooperative action with the feeding device, if the result of the action completion of the mover module 1 indicates that the feeding is successful with the feeding device, the feeding result information indicating the successful feeding corresponding to the action completed by the mover module 1 is stored as the operation history information (such as Figure 6 In the figure, it is schematically shown as “loading successful”), that is, “loading successful” is written into the storage area corresponding to the mover module 1.

[0144] Control parameter 2 may include any one or a combination of the following:

[0145] Speed ​​control data, used to indicate the moving speed of the mover module (motor module 1 in this example) during the process of moving to the processing equipment 1. The speed control data includes an expected speed value and / or a speed limit value, and the expected speed value indicates the speed value expected to be at when the mover module reaches the corresponding position of the processing equipment 1. The speed limit value indicates the upper speed value that cannot be exceeded and / or the lower speed value that cannot be lowered during the process of the mover module moving to the processing equipment 1. Acceleration control data, used to indicate the acceleration of the mover module during the process of moving to the processing equipment 1. Time control data, used to indicate the time spent in the process of the mover module moving to the processing equipment 1. Anti-collision spacing control data, used to indicate the anti-collision spacing between the mover module and other mover modules during the process of moving to the processing equipment 1. Target position data, used to indicate the position of the processing equipment 1. The first communication control sub-parameter is used to indicate that when the mover module is detected to move to the processing equipment 1, the arrival information is sent to the processing equipment 1. The second communication control sub-parameter is used to indicate that when the mover module is detected to move to the non-processing equipment 1, the arrival information is prohibited from being sent to the non-processing equipment 1, or the prohibition of executing the operation information is sent to the non-processing equipment 1.

[0146] The processing device 1 performs a processing operation on the object 1 placed on the mover module 1. Accordingly, after detecting that the mover module 1 completes the cooperative action with the processing device 1, the operation history information acquired by the linear motor device is the operation history information 2. The operation history information 2 includes: the characteristic sub-information of the object 1 (such as Figure 6 Schematically shown as "object 1 information" in the figure) and the loading result sub-information indicating that the loading device has successfully loaded the material (such as Figure 6 If the result of the action of the mover module 1 indicates that the processing with the processing equipment 1 is successful, then based on the result of the operation history information of the mover module 1 and the result of the action, the corresponding control parameter 3 is obtained as the target control parameter, and according to the control parameter 3, the mover module 1 is controlled to move toward the processing equipment 2 for processing ( Figure 6 not shown).

[0147] Further, after detecting that the mover module 1 completes the cooperative action with the processing device 1, if the result of the action completion of the mover module 1 indicates that the processing with the processing device 1 is successful, the processing result information indicating that the processing device 1 is successfully operated corresponding to the completion of the processing action by the mover module 1 is stored as the operation history information (e.g. Figure 6 Schematically shown as “Processing 1 successful”).

[0148] The subsequent processing links are analogous to each other until it is detected that the mover module 1 completes the cooperative action with the processing equipment N. The operation history information obtained by the linear motor device is the operation history information 3. The operation history information 3 includes: the characteristic sub-information of the object 1 (such as Figure 6 Schematically shown as "object 1 information"), and the loading result sub-information indicating that the loading equipment has successfully loaded the material (such as Figure 6 Schematically shown as "loading success"), indicating that the processing equipment 1 successfully processed the processing result sub-information (such as Figure 6 Schematically shown as "Processing 1 Successful"), indicating that the processing results of other processing equipments between processing equipment 1 to processing equipment N are successful ( Figure 6 Indicated by ellipsis in the figure). If the result of the action completion of the mover module 1 indicates that the processing with the processing equipment N is successful, then based on the result of obtaining the operation history information of the mover module 1 and the result of the action completion, the corresponding control parameter 4 is obtained as the target control parameter, and according to the control parameter 4, the mover module 1 is controlled to move to the unloading equipment to cooperate with the unloading equipment to complete the unloading operation. Furthermore, after detecting that the mover module 1 has completed the collaborative action with the processing equipment N, if the result of the action completion of the mover module 1 indicates that the processing with the processing equipment N is successful, the processing result information indicating the successful operation of the processing equipment N corresponding to the completion of the processing action by the mover module 1 is stored as the operation history information (such as Figure 6 Schematically shown as "Processing n Successful").

[0149] The unloading device performs an unloading operation on the object 1 placed on the moving submodule 1. Accordingly, after detecting that the moving submodule 1 completes the cooperative action with the unloading device, the operation history information acquired by the linear motor device is the operation history information n. The operation history information n includes: the characteristic sub-information of the object 1 (such as Figure 6 Schematically shown as "object 1 information"), and the loading result sub-information indicating that the loading equipment has successfully loaded the material (such as Figure 6 Schematically shown as "loading success"), indicating that the processing equipment 1 to the processing equipment N have all successfully processed the processing result sub-information (such as Figure 6 Schematically shown as “Processing 1 is successful…Processing n is successful”). If the result of the current action completion of the mover module 1 indicates that the material unloading is successful with the unloading device, then based on the acquisition result of the operation history information of the mover module 1 and the result of the current action completion, the corresponding control parameter 5 is obtained as the target control parameter, and according to the control parameter 5, the mover module 1 is controlled to drive to the loading device for the next round of loading operation.

[0150] Optionally, after detecting that the mover module 1 completes the cooperative action with the material unloading device, if the result of the action completion of the mover module 1 indicates that the material unloading with the material unloading device is successful, the unloading result information corresponding to the unloading action completed by the mover module 1 indicating that the unloading device operation is successful is stored as the operation history information (such as Figure 6 The schematic diagram is shown as “material cutting is successful”).

[0151] It can be understood that the specific contents included in the above-mentioned control parameters 3, 4 and 5 are similar to those of the above-mentioned control parameters 1 and 2. The difference is that the target devices involved in control parameters 3, 4 and 5 are different. For example, the target device involved in control parameter 3 is processing equipment 2, the target device involved in control parameter 4 is unloading equipment, and the target device involved in control parameter 5 is loading equipment. To avoid repetition, they will not be repeated here.

[0152] Exemplarily, in the embodiment of the present application, if the operation history information is not read, the first acquisition result is generated, otherwise the second acquisition result is generated, and the method further includes:

[0153] In the case of generating the first reading result, if the completion result of the current action of the mover module indicates that the startup is successful, it is determined that the target control parameter includes the first control parameter, and based on the first control parameter, the mover module is controlled to move toward the target device so that the mover module cooperates with the target device, and the target device is the first operating device that cooperates with the mover module along the moving direction of the mover module among the multiple operating devices. Figure 6 The first control parameter may be control parameter 1, and the operating device that first cooperates with the mover module 1 along the moving direction of the mover module 1 is a loading device.

[0154] When the second reading result is generated, the target control parameter corresponding to the operation history information and the result of the current action is determined, and the actuator module is controlled to cooperate with the target device according to the target control parameter. The target device is other operating devices except the first cooperative operating device mentioned above. Figure 6 In this case, based on different operation history information, the target control parameter can be any one of the following: control parameter 2, control parameter 3, control parameter 4, control parameter 5.

[0155] Exemplarily, the storage body of the operation history information and the storage body of the target control parameters may be the same or different. For example, the operation history information and the target control parameters may both be stored in the local control device, or may both be stored in the host computer. It is also possible that one of the operation history information and the target control parameters is stored in the local control device, while the other is stored in the host computer. According to the storage body of the operation history information and the storage body of the target control parameters, the control device (local control device or host computer) may directly obtain the target control parameters or obtain the target control parameters from the outside through information transmission. Based on this, the above-mentioned implementation method of obtaining the target control parameters based on the acquisition result of the operation history information and the completion result of the current action of the actuator module includes the following situations 1 to 4, which are explained below respectively:

[0156] In case 1, the local control device obtains the target control parameters based on the acquisition result of the operation history information and the completion result of the current action of the actuator module.

[0157] Specifically, in the above situation 1, the operation history information and the target control parameters are stored in the local control device of the linear motor equipment, so that the local control device can directly obtain the acquisition result of the operation history information from the local control device, and obtain the target control parameters from the local control device based on the acquisition result of the operation history information and the completion result of the current action of the actuator module.

[0158] In a possible implementation, the control method of the linear motor device is applied to a local control device. In combination with the above situation 1, after the local control device obtains the target control parameters, it can directly control the actuator module to perform the next action based on the target control parameters.

[0159] In another possible implementation, the control method of the linear motor device is applied to a host computer. Combined with the above situation 1, after the local control device obtains the target control parameters, it can send the target control parameters to the host computer so that the host computer controls the actuator module to perform the next action according to the target control parameters.

[0160] In case 2, the host computer obtains the target control parameters based on the acquisition results of the stored operation history information and the completion results of the current action of the actuator module.

[0161] Specifically, in the above situation 2, the operation history information and the target control parameters are stored in the host computer of the linear motor device, so that the host computer can directly obtain the acquisition result of the operation history information from the host computer, and obtain the target control parameters from the host computer based on the acquisition result of the operation history information and the completion result of the current action of the actuator module.

[0162] In one possible implementation, the control method of the linear motor device is applied to a local control device. Combined with the above situation 2, the host computer obtains the target control parameters and sends them to the local control device, so that the local control device can control the actuator module to perform the next action based on the received target control parameters.

[0163] In another possible implementation, the control method of the linear motor device is applied to a host computer. In combination with the above situation 2, after the host computer obtains the target control parameters, it can directly control the actuator module to perform the next action according to the target control parameters.

[0164] In case 3, the local control device sends the acquisition result and the completion result of the current action of the moving module to the host computer, and the host computer obtains the target control parameter based on the received acquisition result and the completion result of the current action of the moving module.

[0165] Specifically, in the above situation 3, the operation history information is stored in the local control device, and the target control parameters are stored in the host computer, so that the local control device can directly obtain the acquisition result of the operation history information from the local control device, and send the acquisition result and the completion result of the current action of the actuator module to the host computer. The host computer obtains the target control parameters stored in the host computer based on the received acquisition result and the completion result of the current action of the actuator module.

[0166] In one possible implementation, the control method of the linear motor device is applied to a local control device. Combined with the above situation 3, after the host computer obtains the target control parameters, it sends the target control parameters to the local control device, so that the local control device controls the actuator module to perform the next action based on the received target control parameters.

[0167] In another possible implementation, the control method of the linear motor device is applied to a host computer. In combination with the above situation 3, after the host computer obtains the target control parameter, it directly controls the actuator module to perform the next action based on the target control parameter.

[0168] In case 4, the host computer sends the acquisition result to the local control device, and the local control device acquires the target control parameter based on the received acquisition result and the completion result of the current action of the actuator module.

[0169] Specifically, in the above situation 3, the operation history information is stored in the host computer, and the target control parameters are stored in the local control device, so that the host computer can directly obtain the acquisition result of the operation history information from the host computer, and send the acquisition result to the local control device. The local control device obtains the target control parameters from the local control device based on the received acquisition result and the completion result of the current action of the actuator module.

[0170] In a possible implementation, the control method of the linear motor device is applied to a local control device. In combination with the above situation 4, after the local control device obtains the target control parameters, it directly controls the actuator module to perform the next action based on the received target control parameters.

[0171] In another possible implementation, the control method of the linear motor device is applied to the host computer. Combined with the above situation 4, after the local control device obtains the target control parameters, it sends the target control parameters to the host computer, so that the host computer controls the actuator module to perform the next action based on the received target control parameters.

[0172] Exemplarily, the embodiment of the present application describes controlling the actuator module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the actuator module, so that the actuator module collaborates with the target device, which may include: when the acquisition result of the operation history information indicates that the operation history information has not been acquired, if the completion result of the current action of the actuator module indicates that the action is executed successfully, then controlling the actuator module to perform an action related to the first cooperating operating device.

[0173] Specifically, the result of obtaining the operation history information indicates that the operation history information has not been obtained, indicating that the operation history information corresponding to the mover module is empty at this time. It can be considered that the mover module has not undergone any processing operation before executing this action. At this time, the result of obtaining the operation history information can be understood as the above-mentioned first acquisition result. It can be understood that if the current action of the mover module is a start-up action, it can be considered that the mover module starts a round of transportation. In this round of transportation, the mover module has not undergone any processing operation before executing the start-up action. Therefore, the operation history information corresponding to the mover module is empty. At this time, the acquisition result indicates that the operation history information has not been obtained. In this case, if the result of the completion of this action of the mover module indicates that the action is successfully executed, such as the start-up action is successfully executed, it means that the mover module starts a new round of transportation, and then controls the mover module to move to the position corresponding to the first cooperating operating device, and executes actions related to the first cooperating operating device.

[0174] The above-mentioned first cooperating operating device is the first cooperating operating device that the mover module moves along the stator line and passes through. Among them, the first cooperating operating device with the mover module can be a loading device, a processing device or a unloading device, etc. If the first cooperating operating device is a loading device, the action related to the first cooperating operating device performed by the mover module is: cooperate with the loading device to complete the loading operation. If the first cooperating operating device is a processing device, the action related to the first cooperating operating device performed by the mover module is: cooperate with the processing equipment to complete the processing operation. If the first cooperating operating device is a unloading device, the action related to the first cooperating operating device performed by the mover module is: cooperate with the unloading device to complete the unloading operation.

[0175] Exemplarily, the first cooperating operating device may be the operating device closest to the mover module among the multiple operating devices distributed around the stator line. For example, if the operating device closest to the mover module is a loading device, then the first cooperating operating device with the mover module is the loading device.

[0176] Exemplarily, the embodiment of the present application described in which the result of obtaining the operation history information and the result of completing the current action of the actuator module are used to control the actuator module to perform the next action so that the actuator module can collaborate with the target device. This may include: when the result of obtaining the operation history information indicates that the operation history information has been obtained, combining the operation history information and the result of completing the current action, controlling the actuator module to perform the next action so as to collaborate with the target device.

[0177] Specifically, the acquisition result of the operation history information indicates that the operation history information is acquired. At this time, the acquisition result of the operation history information can be understood as the second acquisition result mentioned above. It can be understood that if the operation history information is acquired, it means that the mover module has undergone a processing operation before this action in this round of transportation. Therefore, the operation history information corresponding to the mover module is not empty. In this case, combined with the operation history information and the result of the completion of this action, the mover module is controlled to move to the position corresponding to the target device to cooperate with the target device.

[0178] In some embodiments, after the result of the current action completion of the mover module indicates that the loading is successful, the object identification of the loaded object is updated to the mover identification of the mover module.

[0179] It is understandable that after the mover module is started, a mover identifier can be automatically assigned to the mover module. In the embodiment of the present application, after the material is successfully loaded, the object identifier of the loaded object can be set as the mover identifier of the mover module, thereby reducing the amount of data, and by determining whether the mover identifier of the mover module is the object identifier of the loaded object, it is possible to more intuitively determine whether the material is successfully loaded, and to more intuitively track the progress of the loaded object. For example, Figure 4 In the example, if the result of the current action completion of the mover module 1 indicates that the material loading is successful, the object identification of the object 1 can be used as the mover identification of the mover module 1.

[0180] It can be understood that after the result of the action completion of the movable module indicates that the material is unloading successfully, the operation history information of the movable module can be correspondingly related to the object, thereby serving as the operation history information of the object, so that when the automated production process of the object is subsequently checked, it can be used as the information of the object for traceability.

[0181] In some embodiments, taking into account the welding process and the assembly process, objects will be added on the basis of the objects originally loaded on the mover module. Based on this, when the result of the current action completion of the mover module indicates the addition of new objects, the combination identifier is updated to the mover identifier of the mover module. The combination identifier includes the identifiers of each object carried by the mover module.

[0182] That is to say, for the assembly process or welding process, the object identification of the preceding object can be retained, the object identification of the succeeding object and the object identification of the preceding object can be combined, and the combined identification obtained by the combination can be updated as the mover identification of the mover module, that is, the combined identification can be used as the latest mover identification of the mover module. Optionally, the object identification of the succeeding object can be used to replace the object identification of the preceding object, and the object identification of the succeeding object can be used as the latest mover identification of the mover module.

[0183] For easier understanding, please refer to Figure 7 , Figure 7 It is a schematic diagram of the operation process of multiple mover modules in an automated production system involving an assembly process.

[0184] for Figure 7 The mover module P-1 in the mover module P-1, the result of this action completion indicates adding a new object ( Figure 7 In the case where the identifier of object 1 is schematically shown as “object 1 information”, the identifier of object 1 can be updated to the mover identifier of the mover module P-1.

[0185] for Figure 7 The mover module P-2 in the mover module P-2, the result of this action completion indicates adding a new object ( Figure 7 In the case where the combined identifier of object 1 and the identifier of object 2 is schematically shown as "object 2 information"), the combined identifier formed by combining the identifier of object 1 and the identifier of object 2 can be updated to the movable sub-module P-2's movable sub-module identifier, that is, the movable sub-module P-2's movable sub-module identifier is updated to the combined identifier of object 1 and object 2.

[0186] for Figure 7 The mover module 2 in the mover module 2 indicates adding a new object when the mover module 2 completes the action result. Figure 7 In the case where the combined identifier formed by the identifiers of objects 1 to n is schematically shown as “object n information”, the identifiers of objects 1 to n can be updated to the movable sub-module 2's movable sub-module identifier, that is, the movable sub-module 2's movable sub-module identifier is updated to the combined identifier of objects 1 to n.

[0187] In the embodiment of the present application, by updating the combination identifier to the mover identifier of the mover module when the result of the current action completion of the mover module indicates the addition of a new object, it is beneficial to reduce the amount of data and can more intuitively trace the assembly order of the objects.

[0188] Exemplarily, the embodiment of the present application describes controlling the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module, so that the mover module cooperates with the target device, which may include: if the acquisition result indicates that the operation history information has not been acquired and the completion result of the current action of the mover module indicates that the startup is successful, then controlling the mover module to perform actions related to the loading equipment.

[0189] That is to say, in this case, it is determined that the target device with which the mover module will cooperate next is the loading device, and the next action of the mover module is to move toward the loading device and cooperate with the loading device to complete the loading operation.

[0190] For example, see Figure 4 In an automated production system involving a cutting process, after the initial startup action of the mover module 1 is completed, if the acquisition result indicates that no operation history information has been obtained (such as Figure 4 If the operation history information 0 is schematically shown as blank in the figure and the result of the current action completion of the mover module 1 indicates successful startup, the loading device is determined to be the target device for the next action of the mover module 1, and the mover module 1 is controlled to move to the loading device and cooperate with the loading device to perform the loading operation. In other words, the action performed by the mover module 1 related to the loading device is: moving to the loading device and cooperating with the loading device to perform the loading operation.

[0191] For another example, see Figure 7 In an automated production system involving assembly processes, after the initial startup action of the mover module P is completed, if the acquisition result indicates that no operation history information has been obtained ( Figure 7 If the result of the action completion of the mover module P indicates that the startup is successful, the mover module P is controlled to move to the loading device and cooperate with the loading device to perform the loading operation. In other words, the action related to the loading device performed by the mover module P is: moving to the loading device and cooperating with the loading device to perform the loading operation.

[0192] Exemplarily, the embodiment of the present application described in which the movable module is controlled to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the movable module so that the movable module cooperates with the target device, and can include: if the completion result of the current action of the movable module indicates that the object is successfully loaded, then according to the acquisition result of the operation history information, the movable module is controlled to perform an action related to the first target device, and the first target device is a processing device or a unloading device.

[0193] The successful loading of an object may refer to the successful first loading in this round of transportation, or may refer to the successful second loading after the first loading failed in this round of transportation.

[0194] In one possible implementation, the operating links involved in the linear motor device include loading and unloading links, and the operating equipment includes the unloading equipment. The first target equipment is the unloading equipment, so as to control the movable module to perform actions related to the unloading equipment, that is, to control the movable module to move to the position corresponding to the unloading equipment, and cooperate with the unloading equipment to complete the unloading operation, which is conducive to achieving efficient object transportation through independently controlled movable modules in the logistics transportation scenario of the automated production system.

[0195] For example, see Figure 8 , Figure 8 It is a schematic diagram of the normal operation process of a mover module in an automated production system involving logistics transportation provided by an embodiment of the present application.

[0196] Figure 8 The operating equipment in the linear motor device includes a loading device and an unloading device. The operating links involved in the linear motor device include the loading link of the loading device and the unloading link of the unloading device. If the result of the current action completion of the mover module 1 indicates that the object is successfully loaded, then according to the result of obtaining the operation history information, the mover module 1 is controlled to move to the unloading device, and cooperate with the unloading device to perform the unloading operation to unload the object 1 on the mover module 1. Furthermore, if it is detected that the result of the current action completion of the mover module 1 indicates that the object is successfully loaded, the unloading result information indicating that the unloading device operation is successful corresponding to the completion of the unloading action of the mover module 1 is stored as the operation history information (such as Figure 8 The schematic diagram is shown as “material cutting is successful”).

[0197] In one possible implementation, the operation links involved in the linear motor device include loading, processing and unloading, and the operation equipment includes processing equipment. The first target equipment is the processing equipment, so as to control the mover module to perform actions related to the processing equipment, that is, control the mover module to move to the position corresponding to the processing equipment, and cooperate with the processing equipment to complete the processing operation, which is conducive to the efficient object transportation and object processing through independently controlled mover modules in the logistics transportation scenario of the automated production system.

[0198] Optionally, if the operating device includes N processing devices, the first target device is the first processing device among the N processing devices, which is used to perform the first processing operation on the object transported by the moving module. Figure 4 , the feeding device performs a feeding operation on the moving submodule 1, places the object 1 on the moving submodule 1, and after detecting that the moving submodule 1 completes the feeding operation in cooperation with the feeding device, the operation history information obtained is the operation history information 1, and the operation history information 1 may include: feature sub-information of the object 1 (such as Figure 4In the figure, it is schematically shown as "object 1 information"), that is, the acquisition result of the operation history information is the second acquisition result. At this time, the completion result of the current action of the mover module 1 is that the loading of the loading device is successful. Based on the second acquisition result and the completion result of the current action of the mover module 1, it is determined that the target device can be Figure 4 The processing equipment 1 in the embodiment of the present invention is determined, and the next action performed by the mover module 1 is determined to be a processing operation in cooperation with the processing equipment 1, thereby controlling the mover module 1 to perform the next action, and the loading result information indicating successful loading corresponding to the completion of this action by the mover module 1 can be stored as operation history information (such as Figure 4 The schematic diagram is shown as “loading successful”).

[0199] Exemplarily, the embodiment of the present application, based on the acquisition result of the operation history information and the completion result of the current action of the mover module, controls the mover module to perform the next action so that the mover module cooperates with the target device, which may include: if the completion result of the current action of the mover module indicates that the mover module fails to load materials in the no-load state, then controls the mover module to perform the relevant action of waiting for re-loading. The failure of loading can be the failure of loading equipment or the failure of manual loading.

[0200] Specifically, in this example, the case of operation failure, i.e., loading failure, is taken into account. By controlling the mover module to execute the relevant actions of waiting for reloading when loading fails, it is beneficial to automatically start reloading after loading fails, thereby improving the linear motor equipment's ability to cope with operation failures and further improving production efficiency. Among them, the relevant actions of waiting for reloading executed by the mover module can be: the mover module moves to the position corresponding to the loading equipment, and cooperates with the loading equipment to complete the reloading operation, or: the mover module cooperates with the loading personnel to complete manual loading.

[0201] In one possible implementation, if the result of the current action of the mover module indicates that the mover module fails to load material under no-load state, the target control parameters are obtained according to the result of obtaining the operation history information, and according to the target control parameters, the mover module is controlled to execute related actions of waiting for reloading.

[0202] See also Fig. 9 , Fig. 9 It is a schematic diagram of the operation process of the mover module in the case of material loading failure.

[0203] Fig. 9In the example of mover module 1, after detecting that mover module 1 completes the cooperative action with the feeding device, the operation history information obtained by the linear motor device is empty or the characteristic sub-information of the feeding object. If the result of the mover module's current action completion indicates that the mover module fails to feed in the no-load state, then regardless of whether the operation history information is obtained, control parameter 6 can be obtained as the target control parameter, and according to control parameter 6, mover module 1 is controlled to wait for the feeding device to re-load.

[0204] Further, when it is detected that the result of the current action of the mover module indicates that the mover module fails to load the material under the no-load state, the loading result information indicating the failure of the loading device operation corresponding to the completion of the current loading action of the mover module 1 can be stored as the operation history information (such as Fig. 9 Schematically shown as "feeding failure").

[0205] Taking into account the time wasted by the mover module waiting for the loading device to reload, time compensation can be performed by increasing the speed of the mover module after successful reloading to minimize the time wasted waiting for reloading.

[0206] See also Fig.10 , Fig.10 Schematic diagram of the operation process of the mover module in the case of successful re-loading. After detecting that the mover module 1 completes the cooperative action with the loading device, the operation history information obtained by the linear motor device includes: the loading result sub-information indicating the failure of loading ( Fig.10 The schematic diagram shows "loading failure") and the characteristic sub-information of object 1 ( Fig.10 In the figure, it is schematically shown as "object 1 information"). In this case, it means that the mover module 1 has previously experienced a failed loading operation. If the result of the current action of the mover module 1 indicates that the mover module has successfully reloaded, then according to the result of obtaining the operation history information and the result of the current action of the mover module 1, the control parameter 7 is obtained as the target control parameter, and according to the control parameter 7, the mover module 1 is controlled to perform the next action so that the mover module cooperates with the target device.

[0207] Further, when the loading device successfully reloads, that is, when it is detected that the result of the action completion of the mover module 1 indicates that the mover module has successfully reloaded, the loading result information corresponding to the completion of the reloading action of the mover module 1 indicating that the loading device has successfully operated can be stored as operation history information (such as Fig.10 The schematic diagram is shown as “loading successful”).

[0208] Among them, control parameter 7 includes: speed limit value and anti-collision distance control data, the speed limit value includes a lower speed limit value that cannot be lowered and / or an upper speed limit value that cannot be exceeded in the process of the moving submodule moving to the target device, and by increasing the lower speed limit value and / or the upper speed limit value, it is beneficial to increase the speed of the moving submodule moving to the target device, thereby reducing the time spent on the movement, and achieving the purpose of compensating for the time wasted waiting for the loading device to reload. Anti-collision distance control data is used to indicate the anti-collision distance between the moving submodule and other moving submodules in the process of moving to the target device. By reducing the anti-collision distance on the premise of avoiding the collision between the moving submodule and other moving submodules during the movement, such as reducing the anti-collision distance to the minimum distance at which the moving submodule does not collide with other moving submodules, it is beneficial to avoid collisions with other moving submodules while ensuring the rapid movement of the moving submodule.

[0209] Exemplarily, the embodiment of the present application describes controlling the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module, so that the mover module cooperates with the target device, and may include: if the completion result of the current action of the mover module indicates that the mover module fails to load in a no-load state, then controlling the mover module to move in a no-load state until it cooperates with the previous loading device or another loading device.

[0210] That is to say, if the loading fails this time, the movable submodule can be controlled to move empty-handed during this round of transportation, and return to the position corresponding to the previous loading device or another loading device after the completion of this round of transportation, and cooperate with the previous loading device or another loading device to perform the loading operation. The previous loading device can be understood as: the above-mentioned loading device that fails to load in the empty state, and the other loading device is other loading equipment except the above-mentioned previous loading device. Optionally, the other loading device can be a loading device specifically used to perform re-loading operations after the loading fails, which is beneficial for not affecting the normal loading operations of the remaining movable submodules when performing the re-loading operation. However, the embodiment of the present application does not make specific limitations on this, and the previous loading device or another loading device can also be two loading devices arranged at different positions.

[0211] By controlling the actuator module to move in a no-load state until it cooperates with the previous loading device or another loading device when loading fails, it is beneficial to automatically start reloading after loading fails without human intervention, thereby improving the linear motor equipment's ability to cope with operational failures, further improving production efficiency, and increasing the possibility of successful loading.

[0212] See also Fig.11 , Fig.11This is a schematic diagram of the moving module moving one round without load in the case of a feeding failure. After detecting that the moving module 1 completes the cooperative action with the feeding device 1, the operation history information obtained by the linear motor device is empty or the characteristic sub-information of the feeding object ( Fig.11 (The schematic diagram shows that the operation history information is empty). If the result of the current action of the mover module 1 indicates that the mover module fails to load materials in the no-load state, then regardless of whether the operation history information is obtained, the control parameter 8 can be obtained as the target control parameter, and according to the control parameter 8, the mover module 1 is controlled to move in the no-load state until it cooperates with the previous loading device or another loading device. In this way, the mover module 1 does not cooperate with the subsequent operation equipment of this round of transportation, thereby saving transportation time. Fig.11 The subsequent operation equipment for this round of transportation includes: processing equipment 1 to N and unloading equipment.

[0213] Further, if it is detected that the result of the current action completion of the mover module 1 indicates that the mover module 1 fails to load the material under the no-load state, the loading result information indicating the failure of the loading device operation corresponding to the completion of the current loading action of the mover module 1 can be stored as the operation history information (such as Fig.11 Schematically shown as "feeding failure").

[0214] Exemplarily, when the mover module moves past a non-loading device in an unloaded state, the non-loading device is prevented from cooperating with the mover module.

[0215] Specifically, combined with the above description, if the loading fails, the mover module may move through the non-loading equipment in an unloaded state. At this time, there is no object on the mover module, and the mover module does not need to cooperate with the subsequent operation equipment (i.e., non-loading equipment) such as subsequent processing equipment or unloading equipment when passing through the subsequent operation equipment. Therefore, when the mover module moves through the non-loading equipment in an unloaded state, preventing the non-loading equipment from cooperating with the mover module is conducive to avoiding the waste of resources caused by the non-loading equipment performing unnecessary processing operations.

[0216] Considering that some operating devices will perform processing operations after detecting the arrival of a mover module through sensors, and when the mover module moves past non-loading equipment in an unloaded state, the non-loading equipment does not need to perform related processing operations. Based on this, in order to avoid the non-loading equipment from performing unnecessary processing operations, when the result of the mover module's current action completion indicates that the mover module has failed to load in an unloaded state, a prohibition operation information can be sent to the non-loading equipment involved in this round of transportation to inform the non-loading equipment that the mover module has failed to load, thereby preventing the non-loading equipment from performing processing operations on the mover module and avoiding waste of resources caused by the non-loading equipment performing unnecessary processing operations.

[0217] See also Fig.11 When the result of the current action completion of the mover module 1 indicates that the mover module fails to load materials under the no-load state, a prohibition operation information can be sent to the processing equipment 1 to N and the unloading equipment to prevent the mover module 1 from moving to the position corresponding to the processing equipment 1 to N, and the processing equipment 1 to N from performing the processing operation, and to prevent the mover module 1 from moving to the unloading equipment, and the unloading equipment from performing the unloading operation.

[0218] After the mover module 1 passes through all the operating equipment in this round of transportation, it can reach the loading equipment again, thus starting the next round of transportation.

[0219] Furthermore, during the process of the unloaded movement of the mover module 1, the unloaded time of the mover module 1 can be reduced by increasing the speed of the mover module according to the instruction of the control parameter 8, so that the mover module 1 can enter the next round of transportation faster. For example, the control parameter 8 may include speed limit value and / or anti-collision distance control data, and increasing the speed limit value and / or reducing the anti-collision distance is conducive to increasing the speed of the unloaded movement of the mover module 1, thereby reducing the unloaded time.

[0220] Exemplarily, the embodiment of the present application described in which the movable module is controlled to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the movable module so that the movable module cooperates with the target device, and may include: if the completion result of the current action of the movable module indicates that the object is processed successfully, then according to the acquisition result of the operation history information, the movable module is controlled to perform an action related to the second target device, and the second target device is a processing device or a first unloading device.

[0221] Specifically, if the collaborative device (i.e., the current operating device) is a processing device and the object loaded by the movable module needs to undergo processing operations of other processing devices after the current processing operation is successful, then when the result of the current action completion of the movable module indicates that the object processing is successful, the second target device is determined to be the processing device after the current processing device based on the result of obtaining the operation history information.

[0222] If the collaborative device is a processing device and there is no other processing device after the collaborative device for performing processing operations on the objects loaded on the mover module, that is, the collaborative device is the last processing device for performing processing operations on the objects loaded on the mover module, then when the completion result of this action of the mover module indicates that the object processing is successful, the object on the mover module has successfully completed all processing steps, and based on the results of obtaining the operation history information, the second target device is determined to be the first unloading device.

[0223] For example, see Figure 4, assuming that the processing procedure of the object is to sequentially undergo processing operations of processing equipment 1 to processing equipment N, after detecting that the mover module 1 cooperates with the processing equipment 1 to complete the processing operation, the acquired operation history information 2 may include: the loading result sub-information indicating successful loading, the characteristic sub-information of the object 1, at this time, if the result of the current action completion of the mover module 1 is successful processing with the processing equipment 1, based on the acquisition result of the operation history information of the mover module 1 and the current action completion result of the mover module 1, it can be determined that the second target device is the processing equipment 2 after the processing equipment 1 ( Figure 4 (not shown). Similarly, if the current processing equipment that is cooperating with the mover module 1 this time is one of the processing equipment 2 to processing equipment N-1, if the result of the completion of this action of the mover module 1 indicates that the object has been successfully processed, the second target equipment is determined to be the processing equipment after the current processing equipment according to the acquisition result of the operation history information of the mover module 1. In other words, if the current processing equipment that is cooperating with the mover module 1 this time is the mth processing equipment along the moving direction of the mover module 1, if the result of the completion of this action of the mover module 1 indicates that the object has been successfully processed, the second target equipment is determined to be the m+1th processing equipment according to the acquired operation history information, m≤N-1. Based on this, in the logistics and transportation scenario of the automated production system involving the processing link, the orderly processing of the objects transported by the mover module can be achieved through N processing equipment.

[0224] Continue reading Figure 4 , if the current processing equipment that cooperates with the mover module 1 is Figure 4 In the processing device N, there is no other processing device after the processing device N. If the result of the current action completion of the mover module 1 indicates that the object is successfully processed, the second target device is determined to be the unloading device according to the acquired operation history information, so as to control the mover module 1 to move to the unloading device to cooperate with the unloading device to complete the unloading operation of the processed object 1. Based on this, in the logistics and transportation scenario of the automated production system involving the processing link, the unloading of the processed object can be automatically completed after the processing is completed.

[0225] Exemplarily, the embodiment of the present application described in which the movable module is controlled to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the movable module so that the movable module cooperates with the target device, and may include: if the completion result of the current action of the movable module indicates that the object processing has failed, then according to the acquisition result of the operation history information, the movable module is controlled to perform an action related to a third target device, and the third target device is the first unloading device or the second unloading device.

[0226] Among them, when the mover module cooperates with a processing equipment, if the processing equipment fails, the result of the mover module's current action completion will cause the object processing to fail. At this time, the operation history information stored in the storage area corresponding to the mover module includes: processing result sub-information indicating processing failure, and further, the operation history information may also include processing process sub-information indicating the processed object. Based on this, according to the acquisition result of the operation history information and the completion result of the mover module's current action, the mover module can be controlled to move to the third target device and cooperate with the third target device to perform the unloading operation. As a result, the mover module does not cooperate with other processing equipment in this round of transportation, and does not perform subsequent processing, which is beneficial to saving transportation time.

[0227] Optionally, if the result of the action completion of the movable module indicates that the object processing has failed, information that the movable module is loaded with the object that has failed processing can be sent to the processing equipment that the movable module will pass through subsequently, so as to prevent the processing equipment that will pass through subsequently from performing processing operations on the object that has failed processing, thereby avoiding waste of resources.

[0228] See also Fig.12 , Fig.12 This is a schematic diagram of the operation process of the mover module in the case of processing failure. Fig.12 As shown, after the moving submodule 1 is successfully loaded on the loading device, it cooperates with the processing device 1 to process the object 1. At this time, the processing device 1 fails to operate and stops processing. After detecting that the moving submodule 1 completes the cooperation action with the processing device 1, the operation history information obtained by the linear motor device includes: the loading result sub-information indicating the successful loading ( Fig.12 The schematic diagram shows "loading success") and the characteristic sub-information of object 1 ( Fig.12 Schematically shown as "object 1 information" in the figure). Since the result of the action completion of the mover module indicates that the object processing has failed, the control parameter 9 is obtained as the target control parameter according to the result of obtaining the operation history information, and the mover module 1 is controlled to perform actions related to the unloading device (the third target device) according to the control parameter 9 to cooperate with the unloading device to perform the unloading operation, thereby making the mover module 1 not cooperate with other processing equipment (such as processing equipment 2 to N) in this round of transportation, thereby saving transportation time.

[0229] Optionally, in the event of an operation failure of processing equipment 1, information that the movable module 1 is loaded with an object that has failed to be processed may be sent to processing equipment 2 to N to prevent processing equipment 2 to N from performing processing operations on the object that has failed to be processed, thereby avoiding waste of resources.

[0230] Further, if it is detected that the result of the current action of the mover module 1 indicates that the processing operation of the processing device 1 on the object 1 has failed, the processing result information corresponding to the current processing action of the mover module 1 indicating the operation failure of the processing device 1 can be stored as the operation history information (such as Fig.12 Schematically shown as "Processing 1 failed").

[0231] According to the actual situation, the successfully processed objects and the failed processed objects can be transferred through the same or different unloading equipment. For example, if the successfully processed objects are transferred through the first unloading equipment, when the third target equipment is the first unloading equipment, the successfully processed objects and the failed processed objects are unloaded through the same unloading equipment, i.e., the first unloading equipment, thereby reducing the equipment deployment cost; and when the third target equipment is the second unloading equipment, the failed processed objects and the successfully processed objects are transferred through different unloading equipment respectively, thereby realizing the automatic sorting of objects with different processing results.

[0232] Exemplarily, the embodiment of the present application described in which the movable module is controlled to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the movable module so that the movable module cooperates with the target device, may include: when the completion result of the current action of the movable module indicates that the unloading is successful, the movable module is controlled to perform an action that matches the acquisition result of the operation history information.

[0233] It is understandable that if the result of the current action of the mover module indicates that the unloading is successful, it means that the current round of transportation of the mover module is over and the next round of transportation can be started. The above action that matches the result of obtaining the operation history information can be to move to the loading device and cooperate with the loading device to perform the loading operation, which is conducive to controlling the mover module to automatically start a new round of transportation after the unloading is successful, thereby improving production efficiency. The above action that matches the result of obtaining the operation history information can also be: the mover module cooperates with the loading personnel to complete the loading operation.

[0234] See also Fig.12 After the mover module 1 reaches the unloading device, the unloading device performs an unloading operation on the object 1 on the mover module 1 and removes the object 1 from the mover module 1. After detecting that the mover module 1 completes the cooperative action with the unloading device 1, the operation history information obtained by the linear motor device includes:

[0235] Operation history information corresponding to the feeding equipment ( Fig.12 The schematic diagram shows "loading success and object 1 information") and the operation history information corresponding to the processing equipment 1 ( Fig.12Schematically shown as "Processing 1 failed"). If the result of the current action of the mover module 1 indicates that the unloading is successful, the control parameter 10 is obtained as the target control parameter according to the result of the operation history information acquisition and the result of the current action of the mover module 1, and the mover module 1 is controlled to move to the loading device for the next round of transportation according to the control parameter 10.

[0236] Further, if it is detected that the result of the action completion of the moving module 1 indicates that the material unloading is successful, the unloading result information indicating that the material unloading device operation is successful corresponding to the unloading action completed by the moving module 1 can be stored as the operation history information (such as Fig.12 The schematic diagram is shown as “material cutting is successful”).

[0237] See also Figure 8 , the unloading device performs an unloading operation on the object 1 on the moving module 1, and removes the object 1 from the moving module 1. After detecting that the moving module 1 completes the cooperative action with the unloading device, the operation history information obtained by the linear motor device includes: the loading result sub-information indicating successful loading ( Figure 8 The schematic diagram shows "loading success") and the characteristic sub-information of object 1 ( Figure 8 If the result of the current action of the mover module indicates that the material is unloaded successfully, the mover module 1 is controlled to move to the loading device for the next round of transportation according to the result of the acquisition of the operation history information and the result of the current action of the mover module.

[0238] Furthermore, if the result of the current action of the moving module indicates that the material unloading is successful, the unloading result information indicating that the material unloading device operation is successful corresponding to the completion of the current unloading action by the moving module 1 can be stored as the operation history information ( Figure 8 The schematic display is "material cutting successful").

[0239] Exemplarily, the embodiment of the present application described in which the acquisition result of the operation history information and the completion result of the current action of the mover module are used to control the mover module to perform the next action so that the mover module cooperates with the target device, which may include: if the completion result of the current action of the mover module indicates that the processing is successful and the operation history information of the mover module indicates that there is no processing failure operation for the object transported by the mover module, then the mover module is controlled to execute the action of cooperating with the unloading equipment to place the object in the first area; if the completion result of the current action of the mover module indicates that the processing fails, then the mover module is controlled to execute the action of cooperating with the unloading equipment to place the object in the second area.

[0240] The first area is used to place objects that have been successfully processed by all processing equipment, and the second area is used to place objects that have failed to be processed by one processing equipment. The second area is also the waste area.

[0241] The result of the current action of the mover module indicates that the processing is successful, and the operation history information of the mover module indicates that there is no processing failure operation for the objects transported by the mover module, which means that all the processing equipment passed by the mover module has successfully processed the objects transported by the mover module. That is, in this example, the result of the current action of the mover module indicates that the processing is successful, which means that the mover module cooperates with the last processing equipment it passes in this round of transportation to successfully complete the processing operation. For example, refer to Figure 5 ,for Figure 5 In the mover module 2, if the result of the action completed by the mover module 2 indicates that the processing of the processing equipment N is successful, and according to the operation history information stored in the storage area corresponding to the mover module 2, it can be seen that there is no processing failure operation on the object transported by the mover module, then the mover module 2 can be controlled to cooperate with the unloading equipment to place the object in the first area.

[0242] The result of the current action of the mover module indicates that the processing has failed, which means that the processing equipment that the mover module has passed through has failed to process the object conveyed by the mover module, that is, the object on the mover module is waste. Figure 5 ,for Figure 5 The mover module P-2 in the moving part module P-2, the result of the current action completion of the moving part module P-2 indicates that the processing of the processing device 1 has failed, then the moving part module P-2 is controlled to execute the action of cooperating with the unloading device to place the object 1 in the second area. For example, the moving part module P-2 can load the information of the object 1 that has failed to be processed and send it to the unloading device, so that the unloading device knows that the processing of the object 1 has failed, and the unloading device places the object 1 that has failed to be processed in the second area.

[0243] In the embodiment of the present application, by unloading successfully processed objects to the first area and unsuccessfully processed objects to the second area, it is beneficial to automatically sort unsuccessfully processed objects and successfully processed objects by unloading them to different areas without manual sorting, which is beneficial to improving object sorting efficiency.

[0244] Exemplarily, the embodiment of the present application, based on the acquisition result of the operation history information and the completion result of the current action of the mover module, controls the mover module to perform the next action so that the mover module cooperates with the target device, and may include: if the completion result of the current action of the mover module indicates that the processing is successful and the operation history information of the mover module indicates that there is no processing failure operation on the object conveyed by the mover module, then controls the mover module to perform an action related to the first unloading device; if the completion result of the current action of the mover module indicates that the processing fails, then controls the mover module to perform an action related to the second unloading device.

[0245] The first unloading device is used to perform unloading operations on objects that have been successfully processed by all processing equipment, and the second unloading device is used to perform unloading operations on objects that have failed to be processed by one processing equipment.

[0246] See also Fig.13 , Fig.13 It is a schematic diagram of using two unloading devices to unload objects that have been processed successfully and objects that have failed to be processed. Fig.13 In the figure, the material unloading device 1 is the first material unloading device mentioned above, and the material unloading device 2 is the second material unloading device mentioned above.

[0247] Fig.13 If the result of the current action completion of the mover module 1 indicates a processing failure, that is, the processing equipment 1 fails to process the object 1 on the mover module 1, then no matter what the operation history information corresponding to the mover module 1 is, the mover module 1 can be directly controlled to move to the unloading equipment 2 to cooperate with the unloading equipment 2 to perform the unloading operation.

[0248] Specifically, after detecting that the mover module 1 completes the cooperative action with the processing device 1, the operation history information acquired by the linear motor device includes: the loading result information indicating that the loading device has successfully loaded the material (such as Fig.13 The schematic diagram shows “loading success”) and the characteristic sub-information of object 1 (such as Fig.13 At this time, if the result of the current action of the mover module 1 indicates that the processing with the processing device 1 fails, the mover module 1 is controlled to move to the position corresponding to the blanking device 2 and cooperate with the blanking device 2 to successfully complete the blanking operation.

[0249] Further, if it is detected that the result of the current action of the mover module 1 indicates that the processing of the processing device 1 fails, the processing result information corresponding to the current processing action of the mover module 1 indicating the operation failure of the processing device 1 can be stored as the operation history information (such as Fig.13 Schematically shown as "Processing 1 failed" in storage area 1).

[0250] Further, if it is detected that the result of the action completion of the moving module 1 indicates that the material is successfully unloaded with the unloading device 2, the unloading result information corresponding to the unloading action completed by the moving module 1 indicating that the unloading device 2 operates successfully can be stored as operation history information (such as Fig.13 The schematic diagram shows "material unloading is successful" in storage area 1).

[0251] Fig.13If the completion result of this action of the mover module 2 indicates that the processing is successful, and the operation history information of the mover module 2 indicates that there is no processing failure operation on the object conveyed by the mover module 2, the mover module 2 is controlled to move to the unloading equipment 1 to cooperate with the unloading equipment 1 to perform the unloading operation.

[0252] Specifically, after detecting that the mover module 2 completes the cooperative action with the processing equipment N, the operation history information acquired by the linear motor device includes: the loading result information indicating that the loading equipment has successfully loaded the material (such as Fig.13 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Fig.13 Schematically shown as “object 1 information”) and processing result information indicating that processing equipment 1 to processing equipment N-1 have all successfully processed (such as Fig.13 In the figure, it is schematically shown as "Processing 1 is successful... Processing n-1 is successful"). Since the operation history information includes processing result information indicating that processing equipment 1 to processing equipment N-1 have all successfully processed, it means that the operation history information indicates that there is no processing failure operation for the object conveyed by the mover module 2. At this time, if the result of the current action completion of the mover module 2 indicates that the processing is successful with the processing equipment N, then according to the result of the current action completion of the mover module 2 and the result of obtaining the operation history information, the mover module 2 is controlled to move to the corresponding position of the unloading equipment 1 and cooperate with the unloading equipment 1 to successfully complete the unloading operation.

[0253] Further, if it is detected that the result of the action completion of the mover module 2 indicates that the processing with the processing equipment N is successful, the processing result information indicating that the processing equipment N is successfully operated corresponding to the processing action completed by the mover module 2 can be stored as the operation history information (such as Fig.13 Schematically shown as “Processing n Successful” in storage area 2).

[0254] Further, if it is detected that the result of the action completion of the moving module 2 indicates that the material is successfully unloaded with the unloading device 1, the unloading result information corresponding to the action completed by the moving module 2 indicating that the unloading device 1 is successfully operated can be stored as the operation history information (such as Fig.13 The schematic diagram shows "material unloading is successful" in storage area 2).

[0255] In the embodiment of the present application, two unloading devices are used to unload successfully processed objects and failed objects respectively, which is beneficial to distinguish successfully processed objects and failed objects through the difference of unloading devices, saving additional sorting steps and reducing the time and labor costs of subsequent processing.

[0256] To facilitate the understanding and application of the technical solution provided in the embodiments of the present application, a schematic description is provided below through specific application scenarios and drawings.

[0257] In an alternative embodiment, see Figure 4 ,exist Figure 4 In the scenario shown, each actuator module (in Figure 4 Taking the mover module 1 in the figure as an example), it will pass through a loading device, several processing devices (N processing devices in the figure) and a unloading device.

[0258] Taking the mover module 1 as an example, under normal circumstances, the mover module 1 is initially started, and the corresponding storage area does not store the operation history information, that is, the operation history information 0 is blank. After the initial startup action of the mover module is completed, the acquisition result of the operation history information is the above-mentioned first acquisition result. If the completion result of this action of the mover module 1 is successful startup, then based on the first acquisition result and the completion result of this action of the mover module 1, it is determined that the target device can be Figure 4 The loading device in the embodiment of the present invention determines that the next action performed by the mover module 1 is to cooperate with the loading device to perform a loading operation.

[0259] The feeding device performs a feeding operation on the moving module 1, places the object 1 on the moving module 1, and after detecting that the moving module 1 cooperates with the feeding device to complete the feeding operation, the operation history information obtained is the operation history information 1, which may include: feature sub-information of the object 1 (such as Figure 4 In the figure, it is schematically shown as "object 1 information"), that is, the acquisition result of the operation history information is the second acquisition result. At this time, the completion result of the current action of the mover module 1 is that the loading of the loading device is successful. Based on the second acquisition result and the completion result of the current action of the mover module 1, it is determined that the target device can be Figure 4 The processing equipment 1 in the embodiment of the present invention is determined, and the next action performed by the mover module 1 is determined to be a processing operation in cooperation with the processing equipment 1, thereby controlling the mover module 1 to perform the next action. In addition, the loading result information indicating the successful loading of the material corresponding to the completion of the action by the mover module 1 can be stored as the operation history information (such as Figure 4 The schematic diagram is shown as “loading successful”).

[0260] The processing equipment 1 performs a processing operation on the object 1 placed on the mover module 1. After detecting that the mover module 1 completes the processing operation in cooperation with the processing equipment 1, the operation history information obtained is the operation history information 2. The operation history information 2 may include: the loading result sub-information indicating successful loading, the characteristic sub-information of the object 1, that is, the acquisition result of the operation history information is the second acquisition result. At this time, the completion result of the current action of the mover module 1 is successful processing in cooperation with the processing equipment 1. Based on the second acquisition result and the completion result of the current action of the mover module 1, it is determined that the target device can be the processing equipment 2 ( Figure 4), and determines that the next action to be performed by the mover module 1 is to cooperate with the processing equipment 2 to perform a processing operation, thereby controlling the mover module 1 to perform the next action, and storing the processing result information indicating that the processing equipment 1 has successfully operated the corresponding processing action completed by the mover module 1 as the operation history information (such as Figure 4 Schematically shown as “Processing 1 successful”).

[0261] The subsequent links can be deduced in the same way. Assuming that the processing operations corresponding to the mover module 1 are all successful, the mover module 1 moves to the processing equipment N, and the processing equipment N performs the processing operation on the object 1 placed on the mover module 1. After detecting that the mover module 1 cooperates with the processing equipment N to complete the processing operation, the operation history information obtained is the operation history information 3. The operation history information 3 may include: the loading result sub-information indicating that the loading is successful, the feature sub-information of the object 1, and the processing result sub-information indicating that the processing operations of the processing equipment 1 to the processing equipment N-1 are all successful ( Figure 4 The processing result sub-information of processing equipment N-1 is not shown in the figure), that is, the acquisition result of the operation history information is the second acquisition result. At this time, the completion result of the current action of the mover module 1 is that the processing is successful in cooperation with the processing equipment N. Based on the second acquisition result and the completion result of the current action of the mover module 1, it is determined that the target device can be a material unloading device, and the next action performed by the mover module 1 is determined to be a material unloading operation in cooperation with the material unloading device, thereby controlling the mover module 1 to perform the next action. In addition, the processing result sub-information indicating that the processing equipment N operation is successful corresponding to the completion of the current processing action by the mover module 1 can be stored as the operation history information (such as Figure 4 Schematically shown as "Processing n Successful").

[0262] The unloading equipment performs an unloading operation on the object 1 placed by the movable module 1. After detecting that the movable module 1 completes the unloading operation in cooperation with the unloading equipment, the operation history information obtained is the operation history information n. The operation history information n may include: the loading result sub-information indicating that the loading is successful, the characteristic sub-information of the object 1, and the processing result sub-information indicating that the processing operations of the processing equipment 1 to the processing equipment N are all successful. The acquisition result of the operation history information is the second acquisition result. At this time, the completion result of the current action of the movable module 1 is the successful unloading in cooperation with the unloading equipment. Based on the second acquisition result and the completion result of the current action of the movable module 1, it is determined that the target device can be the loading device, and it is determined that the next action performed by the movable module 1 is to cooperate with the loading device to complete a new round of loading operations. In other words, after the unloading equipment successfully performs the unloading operation, the movable module 1 realizes a round of transportation, and after completing a round of transportation, it can return to the loading equipment for the next round of transportation. In addition, the unloading result sub-information indicating that the operation of the unloading equipment is successful corresponding to the unloading action completed by the movable module 1 can be stored as the operation history information (such as Figure 4The schematic diagram is shown as “material cutting is successful”).

[0263] In addition, the operation history information obtained by the mover module 1 in this round of transportation can be correspondingly related to the object 1 transferred by the unloading equipment, so as to serve as the operation history information of the object 1, so that the information of the object 1 can be traced back when the automated production process of the object 1 is subsequently checked.

[0264] Figure 4 This is the operation flow of a single mover module. However, in actual implementation, multiple mover modules in a linear motor device usually have their own actions. The following is an example of the operation flow of multiple mover modules in an automated production system involving cutting technology. Figure 5 , the multiple mover modules include: mover module 1 to mover module P.

[0265] for Figure 5 The movable submodule P in the storage area corresponding to the movable submodule P is the storage area P. When the movable submodule P is initially started, the operation history information is not stored in the corresponding storage area P. Therefore, Figure 5 The operation history information of the storage area P is blank. After the initial startup action of the mover module P is completed, the acquisition result of the operation history information is the first acquisition result mentioned above. If the completion result of this action of the mover module P is successful startup, then based on the first acquisition result and the completion result of this action of the mover module P, it is determined that the target device can be Figure 5 The loading device in the embodiment of the present invention determines that the next action performed by the mover module P is to cooperate with the loading device to perform a loading operation.

[0266] for Figure 5 The movable module P-1 in the storage area is the storage area P-1. The action performed by the movable module P-1 this time is to cooperate with the feeding device to perform the feeding operation and place the object 1 in the movable module P-1. After detecting that the movable module P-1 cooperates with the feeding device to complete the feeding operation, the operation history information obtained includes: the characteristic sub-information of the object 1 (such as Figure 5 In the figure, it is schematically shown as "object 1 information"). At this time, the result of the action of the moving module P-1 is that the loading of the loading equipment is successful. Based on the acquisition result of the operation history information in the storage area P-1 and the result of the action of the moving module P-1, it is determined that the target equipment can be Figure 5 The processing equipment 1 in the embodiment of the present invention is determined, and the next action performed by the mover module P-1 is determined to be a processing operation in cooperation with the processing equipment 1. The mover module P-1 is thereby controlled to perform the next action, and the loading result information of the successful loading corresponding to the action completed by the mover module P-1 can be stored as the operation history information (such as Figure 5 The schematic diagram is shown as “loading successful”).

[0267] for Figure 5 The movable submodule P-2 in the storage area corresponding to the movable submodule P-2 is the storage area P-2. The action performed by the movable submodule P-2 this time is to cooperate with the processing equipment 1 to perform the processing operation. After detecting that the movable submodule P-2 cooperates with the processing equipment 1 to complete the processing operation, the operation history information obtained includes: the loading result sub-information indicating the successful loading (such as Figure 5 The schematic diagram shows “loading success”) and the characteristic sub-information of object 1 (such as Figure 5 In the figure, it is schematically shown as "object 1 information"). At this time, the result of the action completion of the movable module P-2 is that the processing with the processing equipment 1 fails. Based on the acquisition result of the operation history information in the storage area P-2 and the result of the action completion of the movable module P-2, it is determined that the target device can be a material unloading device, and the next action performed by the movable module P-2 is determined to be a material unloading operation with the unloading device, thereby controlling the movable module P-2 to perform the next action, and the processing result sub-information indicating the failure of the operation of the processing equipment 1 corresponding to the completion of the processing action of the movable module P-2 is stored as the operation history information (such as Figure 5 Schematically shown as "Processing 1 failed").

[0268] for Figure 5 The movable module 2 in the storage area corresponding to the movable module 2 is the storage area 2. The action performed by the movable module 2 this time is to cooperate with the processing equipment N to perform the processing operation. After detecting that the movable module 2 cooperates with the processing equipment N to complete the processing operation, the operation history information obtained includes: the loading result information indicating the successful loading (such as Figure 5 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Figure 5 Schematically shown as “object 1 information”), processing result information indicating that processing equipment 1 to N-1 have all successfully processed (such as Figure 5 In the figure, it is schematically shown as "processing 1 is successful...processing n-1 is successful"). At this time, the result of the current action of the mover module 2 is that the processing is successful in cooperation with the processing equipment N. Based on the acquisition result of the operation history information in the storage area 2 and the result of the current action of the mover module 2, it is determined that the target device can be a material unloading device, and the next action performed by the mover module 2 is determined to be a material unloading operation in cooperation with the material unloading device, thereby controlling the mover module 2 to perform the next action, and the processing result sub-information indicating that the processing equipment N operation is successful corresponding to the current processing action completed by the mover module 2 is stored as the operation history information (such as Figure 5 Schematically shown as "Processing n Successful").

[0269] for Figure 5The movable submodule 1 in the memory has a storage area 1 corresponding thereto. The action performed by the movable submodule 1 this time is to cooperate with the material unloading equipment to perform the unloading operation. After detecting that the movable submodule 1 completes the unloading operation in cooperation with the material unloading equipment, the acquired operation history information includes: the loading result sub-information indicating that the loading is successful, the characteristic sub-information of the object 1, and the processing result sub-information indicating that the processing operations of the processing equipment 1 to the processing equipment N are all successful. At this time, the completion result of the current action of the movable submodule 1 is the successful unloading in cooperation with the material unloading equipment. Based on the acquisition result of the operation history information and the completion result of the current action of the movable submodule 1, it is determined that the target device can be the material unloading equipment, and it is determined that the next action performed by the movable submodule 1 is to cooperate with the material unloading equipment to complete a new round of material unloading operations. Furthermore, the unloading result sub-information indicating the successful operation of the material unloading equipment corresponding to the completion of the current unloading action by the movable submodule 1 can be stored as the operation history information (such as Figure 5 The schematic diagram is shown as “material cutting is successful”).

[0270] In an alternative embodiment, see Figure 7 , is a schematic diagram of the operation process of multiple mover modules in an automated production system involving assembly process. The difference between an automated production system involving assembly process and an automated production system involving cutting process is that there will be feature sub-information of multiple objects in the operation history information. Figure 7 In the scenario shown, each actuator module (in Figure 7 For example, the moving submodule 1 to the moving submodule P in the figure will pass through a loading device, a plurality of processing devices (N processing devices in the figure) and a unloading device. Each processing device is used to further add new objects to the objects on the moving submodule.

[0271] for Figure 7 The movable submodule P in the storage area corresponding to the movable submodule P is the storage area P. When the movable submodule P is initially started, the operation history information is not stored in the corresponding storage area P. Therefore, Figure 7 After the initial startup action of the mover module P is completed, based on the acquisition result of the operation history information in the storage area P and the completion result of the current action of the mover module P, it is determined that the target device can be Figure 7 The loading device in the apparatus determines that the next action performed by the mover module P is to cooperate with the loading device to complete the loading operation.

[0272] for Figure 7 The movable module P-1 in the storage area is the storage area P-1. The action performed by the movable module P-1 this time is to cooperate with the feeding device to perform the feeding operation and place the object 1 in the movable module P-1. After detecting that the movable module P-1 cooperates with the feeding device to complete the feeding operation, the operation history information obtained includes: the characteristic sub-information of the object 1 (such as Figure 7In the figure, it is schematically shown as "object 1 information"). At this time, the result of the action of the mover module P-1 is that the loading is successful with the loading device. Based on the acquisition result of the operation history information and the result of the action of the mover module P-1, it is determined that the target device can be the processing device 1, and the next action performed by the mover module P-1 is determined to be a processing operation with the processing device 1, thereby controlling the mover module P-1 to perform the next action. In addition, the loading result sub-information indicating the successful loading corresponding to the action completed by the mover module P-1 can be stored as the operation history information (such as Figure 7 The schematic diagram is shown as “loading successful”).

[0273] for Figure 7 The movable module P-2 in the storage area corresponding to the movable module P-2 is the storage area P-2. The action performed by the movable module P-2 this time is to cooperate with the processing equipment 1 to perform the processing operation to realize the assembly of the object 2 and the object 1. After detecting that the movable module P-2 cooperates with the processing equipment 1 to complete the processing operation, the operation history information obtained includes: the loading result sub-information indicating the successful loading (such as Figure 7 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Figure 7 Schematically shown as “object 1 information”) and feature sub-information of object 2 (such as Figure 7 In the figure, it is schematically shown as "object 2 information"). At this time, the result of the action completion of the movable module P-2 is successful processing with the processing equipment 1. Based on the acquisition result of the operation history information in the storage area P-2 and the result of the action completion of the movable module P-2, it is determined that the target device can be the processing equipment 2 (not shown in the figure), and the next action performed by the movable module P-2 is determined to be to cooperate with the processing equipment 2 to complete the processing operation, thereby controlling the movable module P-2 to perform the next action, and the processing result sub-information indicating the successful operation of the processing equipment 1 corresponding to the completion of the processing action of the movable module P-2 is stored as the operation history information (such as Figure 7 Schematically shown as “Processing 1 successful”).

[0274] for Figure 7 The movable module 2 in the storage area corresponding to the movable module 2 is the storage area 2. The action performed by the movable module 2 this time is to cooperate with the processing equipment N to perform the processing operation to realize the assembly of the object n with the object processed by the previous processing equipment. After detecting that the movable module 2 cooperates with the processing equipment N to complete the processing operation, the operation history information obtained includes: the loading result information indicating the successful loading (such as Figure 7 Schematically shown as "loading success"), feature sub-information of objects 1 to n (such as Figure 7 Schematically shown as “object 1 information…object n information”), processing result information indicating successful processing by processing device 1 (such as Figure 7 Schematically shown as "Processing 1 Successful"), indicating that the processing results of other processing equipments between processing equipment 1 to processing equipment N are successful ( Figure 7 denoted by ellipsis in the figure), at this time, the result of the action of the mover module 2 is that the processing is successfully carried out in cooperation with the processing equipment N. Based on the acquisition result of the operation history information in the storage area 2 and the result of the action of the mover module 2, it is determined that the target device can be a material unloading device, and the next action to be performed by the mover module 2 is determined to be a material unloading operation in cooperation with the material unloading device, thereby controlling the mover module 2 to perform the next action, and the processing result sub-information indicating that the processing equipment N has successfully operated corresponding to the processing action completed by the mover module 2 is stored as the operation history information (such as Figure 7 Schematically shown as "Processing n Successful").

[0275] for Figure 7 The corresponding storage area is storage area 1. The action performed by the mover module 1 this time is to cooperate with the material unloading device to perform the material unloading operation. After detecting that the mover module 1 cooperates with the material unloading device to complete the material unloading operation, the acquired operation history information includes: the material unloading result sub-information indicating the successful material unloading (such as Figure 7 Schematically shown as "loading success"), feature sub-information of objects 1 to n (such as Figure 7 Schematically shown as "object 1 information ... object n information"), processing result information indicating that processing equipment 1 to N have all successfully processed (such as Figure 7 In the example, it is schematically shown as "Processing 1 is successful... Processing n is successful"). At this time, the result of the action of the mover module 1 is that the material is unloaded successfully with the unloading device. Based on the acquisition result of the operation history information in the storage area 1 and the result of the action of the mover module 1, it is determined that the target device can be the loading device, and the next action performed by the mover module 1 is to complete a new round of loading operation with the loading device. In addition, the unloading result information indicating that the unloading device operation is successful corresponding to the unloading action completed by the mover module 1 can be stored as the operation history information (such as Figure 7 The schematic diagram is shown as “material cutting is successful”).

[0276] With the changes in production needs, producing one type of product through an automated production system is no longer able to meet the needs of today's society. For mechanical transmission equipment, its conveying capacity is difficult to meet the conveying efficiency requirements of the production of multiple types of products. For example, the operating procedures of multiple types of objects are different, and it is necessary to control the conveyor belt components to adapt to the operating procedures of each type of object, resulting in a further reduction in conveying efficiency. Based on this, the embodiment of the present application is based on the independent control characteristics of the mover modules of the linear motor device, and can control multiple mover modules to convey multiple types of objects alternately (adjacently or alternately at a preset number of intervals), thereby achieving mixed conveying of different types of objects, thereby achieving the purpose of producing multiple types of products. Based on the above content, it can be seen that linear motor equipment can be applied to two processes: logistics transportation or equipment processing. Correspondingly, mixed transportation can also achieve logistics sorting and / or mixed processing.

[0277] In an optional embodiment, multiple mover modules are used to transport at least two types of objects; the operating equipment includes a processing device for processing a specified type of object and a material unloading device for transferring a specified type of object. In this scenario, the control of the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module described in the embodiment of the present application may include: if the completion result of the current action of the mover module indicates the type of object that has been successfully loaded and the operation history information of the mover module indicates that the object has not been processed, then the mover module is controlled to perform the action related to the first processing device that matches the object type.

[0278] The result of the action completion of the above-mentioned mover module indicates the type of object that has been successfully loaded and the operation history information indicates that the object has not been processed, indicating that the target device to which the object of this object type should be moved next is the first processing device that matches the object type, and indicating that the next action of the mover module is: moving to the first processing device to cooperate with the first processing device to perform processing operations. The first processing device that matches the object type can be understood as: the first processing device determined to perform processing operations on the object based on the processing sequence of the object of this object type.

[0279] In an alternative embodiment, see Fig.14 and Fig.15 , which is a schematic diagram of the normal operation process of the mover module in an automated production system involving hybrid processing technology. Fig.14 and 15 In the scenario shown, each mover module (take mover module 1 and mover module 2 as examples) will pass through a loading device and several processing devices (take processing device 1 and processing device 2 as examples in the figure). Processing device 1 and processing device 2 are used to process different types of objects, respectively. For ease of description, the example of processing device 1 and processing device 2 being used to process type A objects and type B objects, respectively, is used for explanation.

[0280] Fig.14 Schematic diagram of the operation process of the mover module 1 in the automated production system of the hybrid processing technology. Fig.14 In the example, when the actuator module 1 is initially started, the corresponding storage area does not store the operation history information, that is, the operation history information 0 is blank. After the initial startup action of the actuator module 1 is completed, according to the acquisition result of the operation history information and the completion result of the current action of the actuator module 1, it is determined that the target device can be Fig.14 The feeding equipment in the apparatus can obtain the corresponding control parameter 1-1 as the target control parameter, and control the mover module 1 to move toward the feeding equipment according to the control parameter 1-1 to cooperate with the feeding equipment to perform the feeding operation.

[0281] Furthermore, the loading device performs a loading operation on the mover module 1, places the class A object on the mover module 1, and after detecting that the mover module 1 cooperates with the loading device to complete the loading operation, the operation history information obtained by the linear motor device includes: characteristic sub-information of the class A object (such as Fig.14 Schematically shown as "Class A object information" in the figure). Based on this, it can be determined that the operation history information currently stored in the storage area corresponding to the mover module 1 does not have information related to the processing operation, and it can be confirmed that the result of the current action completion of the mover module 1 indicates that the object type of the successful loading is Class A, and the operation history information of the mover module 1 indicates that the Class A object has not been processed, thereby determining that the first processing equipment matching the Class A object is processing equipment 1, and then controlling the mover module 1 to perform actions related to processing equipment 1. In addition, the loading result sub-information indicating successful loading corresponding to the completion of this action by the mover module 1 can be stored as operation history information (such as Fig.14 The schematic diagram is shown as “loading successful”).

[0282] Optionally, if the result of the current action completion of the movable module 1 indicates that the type of object successfully loaded is Class A, and the operation history information of the movable module 1 indicates that the Class A object has not been processed, the corresponding control parameter 1-2 is obtained as the target control parameter, and according to the control parameter 1-2, the movable module 1 is controlled to move towards the processing equipment 1 to cooperate with the processing equipment 1 to process the Class A object.

[0283] Fig.15 Schematic diagram of the operation process of the mover module 2 in the automated production system of the hybrid processing technology. Fig.15 In the example, when the actuator module 2 is initially started, the corresponding storage area does not store the operation history information, that is, the operation history information 0 is blank. After the initial startup action of the actuator module 2 is completed, according to the acquisition result of the operation history information and the completion result of the current action of the actuator module 2, it is determined that the target device can be Fig.15The feeding equipment in the apparatus can obtain the corresponding control parameter 2-1 as the target control parameter, and control the mover module 2 to move toward the feeding equipment according to the control parameter 2-1 to cooperate with the feeding equipment to perform the feeding operation.

[0284] Furthermore, the loading device performs a loading operation on the mover module 2, places the class B object on the mover module 2, and after detecting that the mover module 2 cooperates with the loading device to complete the loading operation, the operation history information obtained by the linear motor device includes: the characteristic sub-information of the class B object (such as Fig.15 Based on this, it can be determined that the operation history information currently stored in the storage area corresponding to the mover module 2 does not have information related to the processing operation, and it can be confirmed that the result of the current action of the mover module 2 indicates that the object type of the successful loading is Class B, and the operation history information of the mover module 2 indicates that the Class B object has not been processed, thereby determining that the first processing equipment that matches the Class B object is processing equipment 2, and then controlling the mover module 2 to perform actions related to processing equipment 2. And, the loading result sub-information indicating successful loading corresponding to the completion of this action by the mover module 2 can be stored as operation history information (such as Fig.15 The schematic display is "loading success")

[0285] Optionally, if the result of the current action completion of the movable module 2 indicates that the type of object successfully loaded is Class B, and the operation history information of the movable module 2 indicates that the Class B object has not been processed, the corresponding control parameter 2-2 is obtained as the target control parameter, and according to the control parameter 2-2, the movable module 2 is controlled to move towards the processing equipment 2 to cooperate with the processing equipment 2 to process the Class B object.

[0286] It is understandable that, in a specific implementation, the multiple mover modules in the linear motor device usually have their own actions, and each mover module can be operated according to the above Fig.14 or Fig.15 Control the process in.

[0287] In an alternative embodiment, see Fig.16 , is a schematic diagram of the operation process of multiple mover modules in an automated production system involving hybrid processing technology. Fig.16 In the scenario shown, each mover module (taking mover module 1 to mover module 4 as an example) will pass through a loading device and several processing devices (taking processing device 1 and processing device 2 as an example in the figure). Processing device 1 and processing device 2 are used to process Class A objects and Class B objects respectively.

[0288] for Fig.16The corresponding storage area of ​​the mover module 4 is recorded as storage area 4-1. When the mover module 4 is initially started, the corresponding storage area 4-1 does not store the operation history information, that is, the operation history information 0 is blank. After the initial startup action of the mover module 4 is completed, according to the acquisition result of the operation history information and the completion result of the current action of the mover module 4, it is determined that the target device can be Fig.16 The loading device in the apparatus determines that the next action performed by the mover module 4 is to cooperate with the loading device to perform a loading operation.

[0289] for Fig.16 The movable module 3 in the storage area corresponding to the movable module 3 is the storage area 3-1. The action performed by the movable module 3 this time is to cooperate with the feeding device to perform the feeding operation and place the class B object 2 on the movable module 3. After detecting that the movable module 3 cooperates with the feeding device to complete the feeding operation, the operation history information obtained by the linear motor device includes: the characteristic sub-information of the class B object 2 (such as Fig.16 In the diagram, it is schematically shown as "B-type object 2 information"). At this time, the result of the action of the mover module 3 is that the loading is successful with the loading device. Based on the acquisition result of the operation history information in the storage area 3-1 and the result of the action of the mover module 3, the target device is determined to be the processing device 2, and the next action of the mover module 3 is determined to be the processing operation on the B-type object 2 with the processing device 2. The mover module 3 is controlled to perform the next action, and the loading result sub-information indicating the successful loading corresponding to the action completed by the mover module 3 can be stored as the operation history information (such as Fig.16 The schematic diagram is shown as “loading successful”).

[0290] for Fig.16 The movable module 2 in the storage area corresponding to the movable module 2 is the storage area 2-1. The action performed by the movable module 2 this time is to cooperate with the processing equipment 1 to perform the processing operation on the type A object 1. After detecting that the movable module 2 cooperates with the processing equipment 1 to complete the processing operation, the operation history information obtained includes: the loading result sub-information indicating the successful loading (such as Fig.16 The schematic diagram shows “loading success”) and the characteristic sub-information of the A-type object 1 (such as Fig.16 In the figure, it is schematically shown as "A-type object 1 information"). At this time, the result of the action completed by the mover module 2 indicates that the A-type object 1 is successfully processed in cooperation with the processing equipment 1. Based on the acquisition result of the operation history information in the storage area 2-1 and the result of the action completed by the mover module 2, the target device is determined to be the processing equipment used to process the A-type object after the processing equipment 1. For example, the target device can be the processing equipment 3 not shown in the figure. The mover module 2 is thereby controlled to perform the next action, and the processing result sub-information indicating the successful operation of the processing equipment 1 corresponding to the completion of the processing action by the mover module 2 is stored as the operation history information (such as Fig.16 Schematically shown as “Processing 1 successful”).

[0291] for Fig.16 The corresponding storage area of ​​the mover module 1 is the storage area 1-1. The action performed by the mover module 1 this time is to cooperate with the processing equipment 2 to perform the processing operation on the type B object 1. After detecting that the mover module 1 cooperates with the processing equipment 2 to complete the processing operation, the operation history information obtained includes: the loading result information indicating the successful loading (such as Fig.16 The schematic diagram shows “loading success”) and the characteristic sub-information of the B-type object 1 (such as Fig.16 In the figure, the result of the action of the mover module 1 indicates that the B-type object 1 is successfully processed with the processing equipment 2. Based on the acquisition result of the operation history information in the storage area 1-1 and the result of the action of the mover module 1, the target device is determined to be the processing equipment used to process the B-type object after the processing equipment 2. For example, the target device can be the processing equipment 4 not shown in the figure. The mover module 1 is thereby controlled to perform the next action, and the processing result sub-information indicating the successful operation of the processing equipment 2 corresponding to the completion of the processing action of the mover module 1 is stored as the operation history information (such as Fig.16 Schematically shown as “Processing 2 successful”).

[0292] In an optional embodiment, the acquisition result of the operation history information and the completion result of the current action of the mover module described in the embodiment of the present application may include: if the completion result of the current action of the mover module indicates successful processing and the operation history information of the mover module indicates the type and processing status of the object, then the mover module is controlled to perform actions related to the target device matching the object type, and the target device includes: processing equipment or unloading equipment matching the object type.

[0293] The type of object is the type of object transported on the moving module, and the processing of the object includes the processing of the object by the processing equipment passed by the moving module, which may be a successful processing or a failed processing. The following describes the successful processing and failed processing respectively:

[0294] If the processing situation indicates that the object needs to be processed by a subsequent processing device, the target device is the processing device that matches the type of the object. The matching processing device is: the next processing device for processing the object determined based on the processing sequence corresponding to the type of the object. Fig.14 and Fig.15 To explain:

[0295] exist Fig.14After the mover module 1 moves to the position corresponding to the processing device 1, the processing device 1 performs a processing operation on the type A object loaded by the mover module 1. After detecting that the mover module 1 completes the processing operation in cooperation with the processing device 1, the operation history information obtained by the linear motor device includes: the loading result information indicating successful loading (such as Fig.14 The schematic diagram is shown as "loading success"), the characteristic sub-information of Class A objects (such as Fig.14 In the figure, it is schematically shown as "Class A object information"). At this time, the result of the current action completion of the movable module 1 indicates that the processing equipment 1 has been successful, and the operation history information of the movable module 1 indicates that the type of the object is Class A, and the processing situation is that the Class A object still needs to be processed by the subsequent processing equipment. Then, the target device is determined to be a processing equipment that matches Class A, such as the processing equipment 3 not shown in the figure for continuing to process Class A objects, and the movable module 1 is controlled to perform actions related to the processing equipment 3.

[0296] Optionally, if the operation history information of the mover module 1 indicates that the type of the object is Class A and the processing situation is that the Class A object needs to continue processing operations in the subsequent processing equipment, and the result of the current action completion of the mover module 1 indicates that the processing of the processing equipment 1 is successful, then the corresponding control parameters 1-3 can be obtained as target control parameters, and the mover module 1 is controlled according to the control parameters 1-3 to perform actions related to the processing equipment 3 (not shown in the figure) matching the Class A object. By analogy, the mover module 1 is controlled to drive to the operating equipment related to the Class A object in this round of transportation until the Class A object is successfully unloaded.

[0297] exist Fig.15 After the mover module 2 moves to the position corresponding to the processing device 2, the processing device 2 performs a processing operation on the type B object loaded by the mover module 2. After detecting that the mover module 2 completes the processing operation in cooperation with the processing device 2, the operation history information obtained by the linear motor device includes: the loading result information indicating the completion of loading (such as Fig.15 The schematic diagram shows “loading success”), the characteristic sub-information of Class B objects (such as Fig.15 In the figure, it is schematically shown as "Class B object information"). At this time, the result of the current action completion of the movable module 2 indicates that the processing of the processing equipment 2 is successful, and the operation history information of the movable module 2 indicates that the type of the object is Class B, and the processing situation is that the Class B object still needs to be processed by the subsequent processing equipment. Then, the target device is determined to be a processing equipment matching Class B, such as the processing equipment 4 not shown in the figure for continuing to process Class B objects, and the movable module 2 is controlled to perform actions related to the processing equipment 4.

[0298] Optionally, if the operation history information of the mover module 2 indicates that the type of the object is Class B and the processing situation is that the Class B object needs to continue processing operations in the subsequent processing equipment, and the result of the current action completion of the mover module 2 indicates that the processing equipment 2 has successfully processed, then the corresponding control parameter 2-3 can be obtained as the target control parameter, and the mover module 2 is controlled according to the control parameter 2-3 to perform actions related to the processing equipment 4 (not shown in the figure) matching the Class B object. By analogy, the mover module 2 is controlled to drive to the operating equipment related to the Class B object in this round of transportation until the Class B object is successfully unloaded.

[0299] If the processing situation indicates that the object transported by the mover module has completed all the required processing operations, the target device is a material unloading device that matches the type of the object, and the matching material unloading device is: a material unloading device used to transfer objects of this type. For example, the target device is a material unloading device that matches type A, and the material unloading device that matches type A is used to transfer type A objects.

[0300] In an alternative embodiment, see Fig.17 , is a schematic diagram of the unloading process after processing in an automated production system involving mixed processing technology. Fig.16 and Fig.17 It can be seen that Fig.16 The corresponding schematic diagrams when the mover module 2 and the mover module 3 are moved to face the processing equipment N and the processing equipment N-1 respectively are as follows: Fig.17 .

[0301] Fig.17 After the mover module 3 in the linear motor moves to the position corresponding to the processing device N-1, the processing device N-1 performs a processing operation on the type B object 2 loaded by the mover module 3. After detecting that the mover module 3 completes the processing operation in cooperation with the processing device N-1, the operation history information obtained by the linear motor device includes: the loading result information indicating successful loading (such as Fig.17 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of the B-type object 2 (such as Fig.17 Schematically shown as “B-type object 2 information”), processing result information indicating successful processing by processing equipment 2 (such as Fig.17In the figure, it is schematically shown as "Processing 2 successful"), indicating that the processing between processing equipment 2 and processing equipment N-1 is successful, and the processing result sub-information (indicated by ellipsis in the figure) indicates that the processing of the processing equipment between processing equipment 2 and processing equipment N-1 is successful. At this time, the result of the current action completion of the movable module 3 indicates that the processing of processing equipment N-1 is successful, and the operation history information of the movable module 3 indicates that the type of object is Class B, and the processing situation is that the Class B object 2 does not need to continue the processing operation, and the Class B object 2 has completed all the required processing operations, then the target device is determined to be the unloading device B that matches Class B, so as to control the movable module 3 to move to the unloading device B, and cooperate with the unloading device B to complete the unloading operation of the Class B object 2. In addition, the processing result sub-information indicating that the operation of processing equipment N-1 is successful corresponding to the completion of this action by the movable module 3 can be stored as the operation history information (such as Fig.17 Schematically shown as "processing n-1 successfully").

[0302] Further, after detecting that the moving submodule 1 cooperates with the blanking device B to complete the blanking operation, the blanking result information (such as Fig.17 The data is schematically shown as “material unloading is successful”) and is written into the storage area 3-1 corresponding to the moving module 3.

[0303] Fig.17 After the mover module 2 in the linear motor moves to the position corresponding to the processing device N, the processing device N performs a processing operation on the type A object 1 loaded by the mover module 2. After detecting that the mover module 2 completes the processing operation in cooperation with the processing device N, the operation history information obtained by the linear motor device includes: the loading result information indicating successful loading (such as Fig.17 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of the A-type object 1 (such as Fig.17 Schematically shown as “A-type object 1 information”), processing result information indicating successful processing by processing equipment 1 (such as Fig.17 In the figure, it is schematically shown as "Processing 1 successful"), indicating that the processing between processing equipment 1 and processing equipment N is successful, and the processing result sub-information (indicated by ellipsis in the figure) indicates that the processing of the processing equipment between processing equipment 1 and processing equipment N is successful. At this time, the result of the current action completion of the movable module 2 indicates that the processing of processing equipment N is successful, and the operation history information of the movable module 2 indicates that the type of object is Class A, and the processing situation is that the Class A object 1 does not need to continue the processing operation, and the Class A object 1 has completed all the required processing operations, then the target device is determined to be the unloading device A that matches Class A, so as to control the movable module 2 to move to the unloading device A, and cooperate with the unloading device A to complete the unloading operation of the Class A object 1. In addition, the processing result sub-information indicating that the operation of processing equipment N is successful corresponding to the completion of this action by the movable module 2 can be stored as the operation history information (such as Fig.17 Schematically shown as "Processing n Successful").

[0304] Further, after detecting that the moving submodule 2 cooperates with the blanking device A to complete the blanking operation, the blanking result information (such as Fig.17 The data is schematically shown as “material unloading is successful”) and is written into the storage area 2-1 corresponding to the moving module 2.

[0305] In the embodiment of the present application, after different types of objects are successfully processed, the processed objects of different types are unloaded separately through unloading equipment matched with different types. This is beneficial for achieving automatic classification of multiple types of products while producing multiple types of products, and will not increase the complexity of conveying control. It can meet the conveying efficiency requirements of the production of multiple types of products.

[0306] It is understandable that in mixed processing scenarios, there is still the possibility of processing failure. If a processing device that cooperates with the mover module fails, the mover module is controlled to move directly to a material unloading device that matches the type of object loaded by the mover module, so as to directly unload the object that failed to be processed without performing subsequent processing operations, which is conducive to avoiding resource waste.

[0307] See also Fig.18 , Fig.18 It is a schematic diagram of a situation where processing failure occurs in an automated production system involving a mixed processing technology.

[0308] contrast Fig.16 and Fig.18 It can be seen that the difference between the two is: Fig.16 The processing equipment 1 successfully processes the object 1 of type A, so Fig.16 The storage area 2-1 in the processing device 1 stores processing result information indicating successful processing (such as Fig.16 Schematically shown as "Processing 1 Successful" in Fig.18 Processing equipment 1 failed to process type A object 1, so Fig.18 The storage area 2-1 in the processing device 1 stores processing result information indicating that the processing failed (such as Fig.18 Schematically shown as "Processing 1 failed"). Fig.18 In the example, if the result of the current action of the mover module 2 indicates that the processing of the processing equipment 1 has failed, then the target equipment is the material unloading equipment, and the mover module 2 is controlled to move toward the material unloading equipment to cooperate with the material unloading equipment to perform the material unloading operation.

[0309] In an optional embodiment, the multiple operating devices include multiple unloading devices, and the multiple unloading devices are used to carry different types of objects. In this scenario, the control of the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module described in the embodiment of the present application may include: according to the object type and object operation status indicated by the operation history information of the mover module, and the completion result of the current action of the mover module, the mover module is controlled to perform actions related to the unloading device that matches the type of the object, so that the mover module cooperates with the unloading device to perform the unloading operation. The unloading device that matches the type of the object is used to carry objects of that type.

[0310] Specifically, the object type indicated by the above operation history information is the type of object that has been successfully loaded into the mover module. The object operation status represents the operation that the object has previously undergone. In different scenarios, the meaning of the object operation status is different. The object operation status is explained below in combination with different scenarios:

[0311] In the mixed sorting scenario, the object operation status can be understood as whether the object has experienced a failed unloading operation after successful loading. If the object operation status indicates that the object has not experienced a failed unloading operation, it means that the object will face the first unloading operation. If the object operation status indicates that the object has experienced a failed unloading operation, it means that the object will face a second unloading operation. In this scenario, the result of the action completion of the actuator module can be: the result of successful loading, or: the result of failed unloading with the unloading equipment.

[0312] In a mixed processing scenario, the operation status of an object can be understood as the processing status that the object has undergone. Different processing statuses correspond to different unloading equipment. Different unloading equipment can be used to unload materials according to different processing statuses. For example, for multiple objects of the same type, if they have undergone different processing statuses, they can be unloaded by different unloading equipment. For multiple objects of different types, different unloading equipment can also be selected for unloading according to different processing statuses. Among them, different processing statuses may include: the final processing success, the final processing failure, the number of processing equipment that successfully processed the final processing failure, etc.

[0313] In one implementation, if the object operation status indicates that the object has not experienced a failed unloading operation and the result of the current action completion of the movable module indicates that the loading is successful, the movable module is controlled to move to a position corresponding to the unloading equipment matching the type of the object, and cooperate with the unloading equipment to perform the first unloading operation.

[0314] In an alternative embodiment, see Fig.19 , is a schematic diagram of the normal operation process of multiple mover modules in an automated production system involving a mixed sorting process. Fig.19 In the scenario shown, each actuator module (in Fig.19 The moving submodule 1 to the moving submodule P in the example) will pass through the loading equipment, several unloading equipment (with Fig.19 Take the feeding equipment C and the feeding equipment D as examples). Fig.19 In the embodiment, the moving module P-1 and the moving module 2 convey objects of type D, and the unloading device matching the objects of type D is the unloading device D. The moving module P-2 and the moving module 1 convey objects of type C, and the unloading device matching the objects of type C is the unloading device C.

[0315] for Fig.19 The mover module P in the mover module P is initially started, and the operation history information is not stored in the corresponding storage area, that is, the operation history information is blank. After the initial startup action of the mover module P is completed, the acquisition result of the operation history information is blank. If the completion result of this action of the mover module P is successful startup, then based on the acquisition result of the operation history information and the completion result of this action of the mover module P, it is determined that the target device can be Fig.19 The loading device in the embodiment of the present invention determines that the next action performed by the mover module P is to cooperate with the loading device to perform a loading operation.

[0316] for Fig.19 The movable module P-1 in the storage area is the storage area P-1. The action performed by the movable module P-1 this time is to cooperate with the feeding device to perform the feeding operation and place the D-type object N in the movable module P-1. After detecting that the movable module P-1 cooperates with the feeding device to complete the feeding operation, the operation history information obtained includes: the characteristic sub-information of the D-type object N (such as Fig.19 In the figure, it is schematically shown as "D-type object N information"). At this time, the result of the action of the mover module P-1 is that the loading is successful with the loading equipment, and the object type indicated by the operation history information of the mover module P-1 is D-type, and the object operation status indicates that there has been no failed unloading operation. Then, the target device is determined to be the unloading device D that matches the D type, and the mover module P-1 is controlled to perform actions related to the unloading device D, that is, the mover module P-1 moves to the corresponding position of the unloading device D, and cooperates with the unloading device D to perform the unloading operation. In addition, the loading result sub-information indicating successful loading corresponding to the completion of this loading action by the mover module P-1 is stored as the operation history information (such as Fig.19 The schematic diagram is shown as “loading successful”).

[0317] for Fig.19The movable module P-2 in the storage area is the storage area P-2. The action performed by the movable module P-2 this time is to cooperate with the feeding device to perform the feeding operation and place the C-type object M in the movable module P-2. After detecting that the movable module P-2 cooperates with the feeding device to complete the feeding operation, the operation history information obtained includes: the characteristic sub-information of the C-type object M (such as Fig.19 In the figure, it is schematically shown as "C-type object M information"). At this time, the result of the action of the mover module P-2 is that the loading is successful with the loading device, and the object type indicated by the operation history information of the mover module P-2 is C-type, and the object operation status indicates that there has been no failed unloading operation. Then, the target device is determined to be the unloading device C that matches the C-type, and the mover module P-2 is controlled to perform actions related to the unloading device C, that is, the mover module P-2 moves to the corresponding position of the unloading device C, and cooperates with the unloading device C to perform the unloading operation. In addition, the loading result sub-information indicating successful loading corresponding to the completion of this loading action by the mover module P-2 is stored as the operation history information (such as Fig.19 The schematic diagram is shown as “loading successful”).

[0318] In one implementation, if the operation status of the object indicates that the object has experienced a failed unloading operation and the result of the current action completion of the movable module indicates a unloading failure, the movable module is controlled to cooperate with the unloading equipment it is currently facing to re-execute the unloading operation, or the movable module is controlled to idle for one round and then return to the position corresponding to the unloading equipment matching the type of the object, and cooperate with the unloading equipment to perform the unloading operation again.

[0319] For example, see Fig. 20 , Fig. 20 A schematic diagram of a material unloading failure in an automated production system involving a mixed sorting process.

[0320] for Fig. 20 The movable module 2 in the storage area corresponding to the movable module 2 is the storage area 2. The action performed by the movable module 2 this time is to cooperate with the material unloading device D to perform unloading. After detecting that the movable module 2 cooperates with the material unloading device D to complete the unloading operation, the operation history information obtained includes: the material unloading result sub-information indicating successful unloading (such as Fig. 20 The schematic diagram shows “loading success”) and the characteristic sub-information of the D-type object N (such as Fig. 20In the figure, it is schematically shown as "D-type object N information"). At this time, the result of the action completed by the movable module 2 is the failure of unloading with the unloading device D, and the operation history information of the movable module 2 indicates that the object type is D-type, and the object operation status indicates that a failed unloading operation has occurred, then the target device is determined to be the unloading device D that matches the D-type, and the movable module 2 is controlled to perform actions related to the unloading device D, that is, the movable module 2 cooperates with the unloading device D to re-execute the unloading operation, or the movable module 2 idles for one round and then returns to the position corresponding to the unloading device D, and cooperates with the unloading device D to perform the unloading operation again. In addition, the unloading result information indicating the unloading failure corresponding to the unloading action completed by the movable module 2 is stored as the operation history information (such as Fig. 20 Schematically shown as "feeding failure").

[0321] for Fig. 20 The movable module 1 in the storage area corresponding to the movable module 1 is the storage area 1. The action performed by the movable module 1 this time is to cooperate with the material unloading device C to perform the material unloading operation. After detecting that the movable module 1 cooperates with the material unloading device C to complete the material unloading operation, the operation history information obtained includes: the material unloading result sub-information indicating the successful material unloading (such as Fig. 20 The schematic diagram shows “loading success”) and the characteristic sub-information of the C-type object M (such as Fig. 20 In the diagram, it is schematically shown as "C-type object M information"). At this time, the result of the action of the mover module 1 is that the material is unloaded successfully with the unloading device C. According to the acquisition result of the operation history information of the mover module 1 and the result of the action of the mover module 1, the target device is determined to be the loading device, and the mover module 1 is controlled to move to the loading device to start a new round of transportation. In addition, the unloading result sub-information indicating the successful unloading corresponding to the unloading action of the mover module 1 is stored as the operation history information (such as Fig. 20 The schematic diagram is shown as “material cutting is successful”).

[0322] In the embodiment of the present application, in the mixed sorting scenario, the mover module is controlled to drive to different unloading equipment according to the type of objects loaded by the mover module, so that logistics sorting is directly realized through the mover module, without the need for unloading equipment to sort or sorting through object detection after unloading, which is conducive to improving production efficiency. In addition, in the case of unloading failure, a corresponding solution is also proposed, which improves the linear motor equipment's ability to cope with unloading failure and further improves production efficiency.

[0323] In some embodiments, under some failed action results, specific actions will be performed regardless of whether the operation history information is obtained. For example, if loading fails, regardless of whether the operation history information is obtained, the actuator module will be controlled to move one round without load or wait for reloading.

[0324] The embodiments of the present application also take into account that in actual applications, some situations may occur where the mover identifier is reallocated, which may result in inconsistency between the reallocated mover identifier and the mover identifier assigned when the mover module is started, thereby causing errors in reading the operation history information and affecting the control of the mover module.

[0325] In the specific implementation, the reallocation of the mover identification may occur in the following two scenarios: the application scenario of the mixed conveyor line and the scenario of the linear motor equipment power failure and restart. The following two scenarios are explained respectively:

[0326] According to the splicing of the stator modules, in addition to closed shapes (such as circular, runway, square, etc.), there may also be non-closed shapes (such as S-shaped, straight, C-shaped, etc.) of stator wire bodies. For a single non-closed stator wire body or multiple non-closed stator wire bodies distributed at intervals, a transfer mechanism is required to transfer the mover module from one stator wire body to another, or to transfer the mover module from one end of the stator wire body to the other end of the stator wire body. For cost considerations, the transfer mechanism can use mechanical transmission components (conveyor belt components, chain components, telescopic components) to transfer the mover modules to form a mixed conveyor wire body.

[0327] For a mixed conveyor line, if the positioning module is set along the stator line, when the transfer mechanism transfers the moving sub-module, since the transfer mechanism is not equipped with a positioning module, it is unable to provide the positioning information of the moving sub-module. At this time, the moving sub-module is in a positioning blind spot. When the moving sub-module re-enters the stator line (it may be the original stator line or a new stator line), the control device will regard it as a new moving sub-module and reallocate the moving sub-identity. The reallocated moving sub-identity cannot be guaranteed to be consistent with the originally allocated moving sub-identity (that is, the one allocated when the moving sub-module was started). As a result, the operation history information corresponding to the originally allocated moving sub-identity of the moving sub-module cannot be read, and the operation history information corresponding to the reallocated moving sub-identity may be mistaken for the operation history information of the moving sub-module. For example, refer to Fig.21 Assume that the mover identifier originally assigned to mover module 1 is identifier 1, and the mover identifier later reallocated is identifier 2. The storage areas corresponding to identifiers 1 and 2 are different. Therefore, when reading the operation history information based on the reallocated identifier 2, the original operation history information of mover module 1 cannot be read, and the operation history information originally recorded by identifier 2 (if any) may even be mistaken for the operation history information of mover module 1 (which may actually be the operation history information of another mover), thereby causing errors in the control of mover module 1.

[0328] Although the positioning blind spot can be avoided by deploying the positioning module in the transfer mechanism, as the transfer distance increases, the number of positioning modules that need to be deployed increases accordingly, and the number of movable modules that need to be positioned also increases accordingly, and the positioning accuracy requirements of the positioning module increase accordingly, resulting in an increase in both hardware cost and software computing power. Based on this, in order to solve this technical problem, in the embodiment of the present application, a fixed physical label is set for the movable module, and the physical label can provide the movable module with unique and unchanged label identification information, thereby ensuring accurate reading of the operation history information of the storage area corresponding to the movable module, and because it is not affected by the transfer distance, the hardware cost and software computing power are relatively controllable.

[0329] In some embodiments, the outer surface of each mover module is provided with an identifiable physical tag, and the tag identification information carried by the physical tag is unique and can be used to distinguish the mover module. Based on the moving direction of the mover module and the setting position of the physical tag, a tag identification module is deployed along the stator line. When the mover module corresponds to the tag identification module, the tag identification module identifies the physical tag of the mover module and obtains the tag identification information carried by the physical tag. Among them, the physical tag can be a radio frequency tag (RF) or a QR code tag, and correspondingly, the tag identification module is a radio frequency tag identification module or a QR code tag identification module.

[0330] For example, see Fig. 22 , Fig. 22 is a schematic diagram of a linear motor device provided with a physical tag and a tag identification module. For ease of explanation, Fig. 22 A moving submodule is used as an example for explanation. A physical label is arranged on the outer surface of the moving submodule, and a label identification module is arranged along the stator line based on the moving direction of the moving submodule and the setting position of the physical label.

[0331] In some embodiments, the method for determining the mover identification may include: identifying a physical tag set on the outer surface of the mover module, obtaining the tag identification information carried by the physical tag, and using the tag identification information as the mover identification. In other words, the tag identification information of the mover module can be directly used as the mover identification. On this basis, whether the mover identification is initially assigned when the mover module is started or the mover identification is assigned after restart, the tag identification information is used, which is conducive to maintaining the consistency of the mover identification, thereby avoiding the situation where the operation history information corresponding to the mover identification is read incorrectly.

[0332] In some embodiments, the method for determining the mover identification may include: identifying a physical label set on the outer surface of the mover module, obtaining the label identification information carried by the physical label, and determining the mover identification corresponding to the label identification information, wherein the label identification information is associated with the mover identification automatically assigned to the mover module.

[0333] The mover identification automatically assigned to the mover module includes: the mover identification initially assigned when the mover module is started, and the mover identification reallocated to the mover module when the identification reallocation event is triggered. The identification reallocation event may occur in the application scenario of the above-mentioned hybrid conveyor line or the scenario where the linear motor equipment is powered off and restarted.

[0334] In this example, each time the mover module is assigned a mover identifier, an association relationship is established between the mover identifier assigned this time and the tag identification information of the mover module. Thus, when it is necessary to read the operation history information corresponding to the mover module through the mover identifier, the mover identifier corresponding to the mover module can be queried through the tag identification information of the mover module and the above-mentioned association relationship, and then the complete operation history information corresponding to the mover module can be read through the mover identifier. For example, the tag identification information of the mover module is tag1, and the mover identifiers automatically assigned to the mover module include: identifier 1 and identifier 2. Since tag1, identifier 1 and identifier 2 are associated, identifier 1 and identifier 2 can be queried based on tag1, which is conducive to accurately reading the operation history information corresponding to the mover module based on identifier 1 and identifier 2.

[0335] In some embodiments, the tag identification information and the mover identification can also be combined to store the operation history information, and after the mover identification is reallocated, the historical identification that has established the association relationship is determined through the tag identification information, and the operation history information corresponding to the tag identification information and the historical identification before the identification is reallocated is read based on the tag identification information and the historical identification, thereby avoiding information acquisition errors. The historical identification is the mover identification that has been automatically assigned to the mover module above. For ease of understanding, the following is combined with Fig.23 To explain:

[0336] Fig.23 It is a schematic diagram of the principle of combining tag identification information and mover identification to store operation history information. Take mover module 1 as an example. The tag identification information carried by the physical tag of mover module 1 is recorded as tag identification information 1. It is assumed that the mover identification assigned to mover module 1, that is, the historical identification, is identification 1, and the mover identification reallocated to mover module 1 is identification 2. Both identification 1 and identification 2 are associated with tag identification information 1. After the mover identification is reallocated, identification 1 that has established an association with the tag identification information 1 is determined through tag identification information 1. Based on tag identification information 1 and identification 1, the operation history information corresponding to tag identification information 1 and identification 1 before identification 2 is reallocated is read. The operation history information corresponding to the tag identification information 1 and identification 1 is Fig. 22The operation history information stored in the storage sub-area 1. In this example, it is equivalent to dividing the storage area corresponding to the identifier 1 into multiple storage sub-areas, such as the storage sub-area 1 and the storage sub-area 2 in the figure. The storage sub-area 2 can store the tag identification information 2 and the operation history information corresponding to the identifier 1, and the tag identification information 2 comes from the physical tags of other mover modules. It can be seen that the operation history information corresponding to multiple mover modules can be stored in the storage area corresponding to the identifier 1, which is conducive to the effective use of the storage area, and the operation history information can be read in combination with the tag identification information and the mover identification to avoid information reading errors.

[0337] In some embodiments, before the physical tag set on the outer surface of the above-mentioned identification moving submodule is obtained and the tag identification information carried by the physical tag is obtained, it also includes: binding the moving submodule with the tag identification information carried by the physical tag of the moving submodule through a local control device or a host computer. Through this binding operation, it is helpful for the local control device or the host computer to determine the binding relationship between the tag identification information and the moving submodule, so as to facilitate the subsequent identification of the moving submodule through the tag identification information carried by the physical tag.

[0338] In a specific implementation, the execution subject of the above binding action and the execution subject of the above control method can be the same subject or different subjects. Accordingly, when the execution subject of the above control method and the execution subject of the binding action are different, the binding result needs to be sent to another subject. Among them, the same subject is the above local control device or host computer, and the different subjects are one local control device and the other host computer. The following is an explanation of the binding actions in different situations:

[0339] In the case where the tag identification information is bound to the actuator module through the local control device, if the control method is applied to the host computer, the above control method also includes: receiving the binding result of the tag identification information and the actuator module sent by the local control device. That is to say, in this case, after the local control device executes the binding action, it sends the binding result to the host computer so that the host computer knows the binding result. If the control method is applied to the local control device, it means that the execution subject of the binding action and the execution subject of the above control method can be the same subject. Then, after the local control device executes the binding action, it is not necessary to send the binding result to the host computer.

[0340] In the case where the tag identification information is bound to the actuator module through the host computer, if the control method is applied to the local control device, the above control method also includes: receiving the binding result of the tag identification information and the actuator module sent by the host computer. That is to say, in this case, after the host computer executes the binding action, it sends the binding result to the local control device so that the local control device knows the binding result. If the control method is applied to the host computer, it means that the execution subject of the binding action and the execution subject of the above control method can be the same subject, then after the host computer executes the binding action, it is not necessary to send the binding result to the local control device.

[0341] In some embodiments, the tag identification module is connected to the host computer. In this case, the tag identification information is bound to the moving sub-module through the local control device, including: when the host computer obtains the position information of the moving sub-module, the tag identification module is controlled to perform a tag identification operation and obtain the tag identification information, and the obtained tag identification information is sent to the local control device. The local control device binds the obtained tag identification information to the moving sub-module corresponding to the tag identification module according to the position information of the moving sub-module.

[0342] Among them, the position information of the moving sub-module obtained by the host computer can be sent by the local control device, or can be directly sent by the position measurement device. When the host computer determines that the moving sub-module moves to the position corresponding to the tag identification module based on the position information of the moving sub-module, based on the connection relationship between the host computer and the tag identification module, the host computer sends instructions to the tag identification module to control the tag identification module to perform tag identification operations and obtain the tag identification information sent by the tag identification module. In this example, the binding action is performed by the local control device, so the host computer sends the acquired tag identification information to the local control device, and the local control device binds the acquired tag identification information to the moving sub-module corresponding to the tag identification module based on the position information of the moving sub-module.

[0343] In some embodiments, the tag identification module is connected to the host computer. In this case, the tag identification information is bound to the moving submodule through the host computer, including: when the host computer obtains the position information of the moving submodule, the tag identification module is controlled to perform a tag identification operation and obtain the tag identification information, and the host computer binds the obtained tag identification information to the moving submodule corresponding to the tag identification module. Optionally, the host computer can inform the local control device of the binding result.

[0344] The implementation process of the host computer obtaining the tag identification information is the same as in the above example, and the same part will not be described again to avoid repetition. In this example, the host computer performs the binding action, so after the host computer obtains the tag identification information, it directly binds the obtained tag identification information to the actuator module corresponding to the tag recognition module.

[0345] In some embodiments, the tag identification module is connected to the local control device; in this case, the tag identification information is bound to the moving submodule through the local control device, including: after the local control device obtains the position information of the moving submodule, the tag identification module is controlled to perform a tag identification operation and obtain the tag identification information, and the obtained tag identification information is bound to the moving submodule corresponding to the tag identification module. Optionally, the local control device can inform the host computer of the binding result.

[0346] Among them, after the local control device obtains the position information of the moving submodule, when it is determined that the moving submodule has moved to the position corresponding to the tag identification module, based on the connection relationship between the local control device and the tag identification module, the local control device sends an instruction to the tag identification module to control the tag identification module to perform a tag identification operation and obtain the tag identification information sent by the tag identification module. In this example, the binding action is performed by the local control device, so after the local control device obtains the tag identification information, it directly binds the tag identification information to the moving submodule corresponding to the tag identification module.

[0347] In some embodiments, the tag identification module is connected to the local control device; in this case, the tag identification information is bound to the actuator module through the host computer, including: the local control device sends the acquired tag identification information to the host computer to instruct the host computer to identify the tag identification information and the actuator module corresponding to the tag identification module, and the host computer binds the tag identification information to the actuator module corresponding to the tag identification module.

[0348] In the above scheme, the binding action is performed by the host computer, but the host computer is not connected to the tag identification module, so the host computer cannot directly obtain the tag identification information through the tag identification module. The tag identification module is connected to the local control device, so the local control device can send instructions to the tag identification module to control the tag identification module to perform tag identification operations and obtain the tag identification information sent by the tag identification module. Then the local control device sends the position information of the moving submodule and the obtained tag identification information to the host computer, and the host computer identifies the corresponding tag identification information and the moving submodule corresponding to the tag identification module, and binds the tag identification information to the corresponding moving submodule. The host computer performs the identification and binding actions of the tag identification information, which can reduce the amount of calculation of the local control device when there are multiple tag identification modules.

[0349] It should be noted that the above examples in the embodiments of the present application are only provided for the convenience of understanding and do not constitute a limitation on the technical solutions of the present application.

[0350] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0351] Fig.24 It is a structural schematic diagram of a control device for a linear motor device provided in an embodiment of the present application.

[0352] For example, Fig.24 As shown, the control device 400 of the linear motor device includes:

[0353] The acquisition unit 401 is used to acquire the operation history information corresponding to the mover module and obtain the acquisition result after detecting that the mover module completes the current action; wherein the operation history information is obtained based on the processing operations experienced by the mover module before executing the current action.

[0354] The control unit 402 is used to control the actuator module to perform the next action based on the acquisition results of the operation history information and the completion results of the current action of the actuator module, so that the actuator module cooperates with the target device; wherein the target device is an operation device determined among multiple operation devices based on the acquisition results and the completion results of the current action.

[0355] It is not difficult to find that the embodiment of the present application is a device embodiment corresponding to the above method embodiment, and the embodiment of the present application can be implemented in conjunction with the above method embodiment. The relevant technical details and technical effects mentioned in the above method embodiment are still valid in the embodiment of the present application, and will not be repeated here to reduce repetition.

[0356] Fig.25 It is a structural schematic diagram of a linear motor device provided in an embodiment of the present application.

[0357] Exemplarily, the linear motor device includes: multiple mover modules 110, a stator wire body 120 and a control device 140; multiple operating devices 130 are distributed around the stator wire body 120; each mover module 110 moves along the stator wire body and passes through each operating device 130; the control device 140 is used to execute the control method of the linear motor device in any of the above method embodiments.

[0358] For example, see Fig. 22, the outer surface of the mover module is provided with an identifiable physical tag, and the tag identification information carried by the physical tag is unique and fixed; the linear motor device also includes: a tag identification module connected to the control device, the tag identification module is deployed along the stator line based on the moving direction of the mover module and the setting position of the physical tag; the tag identification module is used to identify the physical tag of the mover module when there is a mover module with a corresponding position, obtain the tag identification information carried by the physical tag, and send it to the control device; the control device is used to determine the storage area corresponding to the mover module based on the tag identification information. For example, in combination with the above description, the control device can determine the mover identification of the mover module based on the tag identification information, and thereby determine the storage area corresponding to the mover module based on the mover identification.

[0359] Exemplarily, the tag identification module is deployed at the upstream position of the first operating device corresponding to the stator line or the starting operating position of the first operating device, and the upstream position is before the starting operating position. Specifically, it can be set on the side, above, opposite side, etc. that preferentially corresponds to the mover module in the first operating device, as long as the tag identification information corresponding to the mover module is obtained before reading or storing the operation history information.

[0360] For example, see Fig. 22 , the first operating device can be a loading device, Fig. 22 The tag identification module in the stator wire can be considered to be deployed at the upstream position of the loading device corresponding to the stator wire. It can be understood that in the specific implementation, based on the different operation links involved, the first operation device may also be: processing equipment or unloading equipment, and the embodiment of the present application does not make specific limitations on this.

[0361] In an embodiment of the present application, by deploying the tag identification module at the upstream position of the first operating device corresponding to the stator line or the starting operating position of the first operating device, it is beneficial to ensure that the tag identification information corresponding to the mover module has been obtained before the mover module cooperates with the first operating device, thereby facilitating accurate reading of historical operation information based on the tag identification information, improving the accuracy of the mover module movement control, and further improving the transmission efficiency.

[0362] Exemplarily, the linear motor device also includes a transfer mechanism, which is used to transfer the mover module; the label identification module is arranged at a position corresponding to the transfer mechanism, and is used to identify the physical label of the mover module during the process of the transfer mechanism transferring the mover module.

[0363] Among them, the position corresponding to the transfer mechanism is such as the position corresponding to the end of the conveyor belt component connected to the stator line body, the position corresponding to the telescopic component, the position corresponding to the chain component, etc., and the tag recognition module is connected to the transfer mechanism so as to be linked. Alternatively, the tag recognition module is spaced apart from the transfer mechanism so as to keep the position unchanged, so as to ensure that the tag recognition module can recognize the physical tag of the moving submodule before it re-enters the stator line body.

[0364] See also Fig.26 , Fig.26 This is a schematic diagram of a tag identification module being arranged at a position corresponding to a transfer mechanism. Fig.26 As shown, the transfer mechanism is a conveyor belt component, which is located between the stator wire body 1 and the stator wire body 2, and the label identification module is arranged at a position corresponding to the end of the conveyor belt component connected with the stator wire body 2.

[0365] See also Fig. 27 , Fig. 27 FIG. 1 is another schematic diagram of a tag identification module being arranged at a position corresponding to a transfer mechanism. Fig. 27 As shown, the transfer mechanism may include: a base, a conveyor belt component and a telescopic component. The movable module can be transferred from the stator wire body 1 to the stator wire body 2 by controlling the extension and contraction of the telescopic component, and / or the movable module can be transferred from the stator wire body 2 to the stator wire body 1 by controlling the extension and contraction of the telescopic component. Fig. 27 The tag identification module is set at the position corresponding to the telescopic component. It can be understood that Fig. 27 The moving direction from top to bottom shown is only used to illustrate an optional moving direction of the transfer mechanism, and the embodiment of the present application does not limit the specific moving direction of the transfer mechanism.

[0366] In the embodiment of the present application, by setting a label identification module at a position corresponding to the transfer mechanism, it is beneficial to identify the physical label of the mover module before it re-enters the stator line body to obtain the label identification information, which is beneficial to accurately read the historical operation information based on the label identification information, improve the accuracy of the mover movement control, and further improve the transmission efficiency.

[0367] Exemplarily, the tag identification module is disposed at the end of the stator line body, and is used to identify the physical tag of the mover module when the mover module leaves or enters the stator line body. Thus, it is beneficial to identify the physical tag of the mover module when it leaves or enters the stator line body, so that the historical operation information can be accurately read based on the tag identification information later.

[0368] Exemplarily, the tag identification module includes a first tag identification module and / or a second tag identification module, the first tag identification module is set at a position corresponding to each operating device, and the second tag identification module is set at a position between any two operating devices. The position corresponding to each operating device can be: the upstream position of the operating device or the starting operating position of the operating device.

[0369] In the embodiment of the present application, considering that no matter what the splicing situation of the stator line is, the mover identification will be reallocated after the linear motor device is powered off and restarted, therefore, by setting a label identification module at the position corresponding to each operating device and / or between two operating devices, it is beneficial to be able to identify the physical label of the mover module through the label identification module after the linear motor device is restarted, and then accurately read the historical operation information through the identified label identification information.

[0370] In a specific implementation, the tag identification module and the physical tag can be set in the accommodation space formed between the stator wire body and the mover module, so that the tag identification module and the physical tag can be deployed by rationally utilizing the existing space inside the linear motor device, thereby reducing the overall volume of the linear motor device and providing certain protection for the tag identification module and the physical tag.

[0371] For example, see Fig.28 , Fig.28 The figure is a schematic diagram of the structure of a linear motor device. In the figure, the tag identification module 41 and the physical tag 42 are arranged in the accommodation space 43 formed between the stator filament 20 and the mover module 10 .

[0372] The linear motor device includes a stator line body 20 and a mover module 10, and the mover module 10 is slidably connected to the stator line body 20 along a first direction. The stator line body 20 serves as a track in the linear motor device to support the mover module 10 and to provide movement for the mover module 10. The mover module 10 serves as a carrier in the linear motor device to carry objects and drive the objects to move on the stator line body 20.

[0373] The mover module 10 includes a mover body 11 and a magnet module. The mover body 11 serves as a base of the mover module 10 and has a first surface 111 facing the stator filament 20. The first surface 111 may be a plane, a curved surface, or a combination of a plane and a curved surface.

[0374] The magnet module is a component in the mover module 10 for magnetically cooperating with the armature winding 26 of the stator wire body 20. When alternating current is passed into the armature winding 26 of the stator wire body 20, an alternating magnetic field is generated. The magnet module is magnetically coupled with the energized armature winding 26. Under the action of magnetic force, the magnet module moves to cut the magnetic flux lines in the alternating magnetic field, thereby driving the mover body 11 connected thereto to move relative to the stator wire body 20.

[0375] At least part of the magnet module is used to form a socket 132 for inserting the armature winding 26 of the stator wire body 20. The plane where the socket 132 is located intersects with the first surface 111, that is, the plane where the socket 132 is located is not parallel to the first surface 111. In other words, the plane where the socket 132 is located has a component perpendicular to the first surface 111 (the component is the projection surface of the plane where the socket 132 is located in the plane perpendicular to the first surface 111). For example, the magnet module has a coupling surface for coupling with the armature winding 26 of the stator wire body 20. When the plane where the socket 132 is located is perpendicular to the first surface 111, that is, the angle between the two is 90 degrees, the coupling surface is parallel to the first surface 111.

[0376] The magnet module includes two magnet arrays 131, each magnet array 131 includes a plurality of magnets arranged along a first direction, the mover module 10 also includes a mounting structure 14, the two magnet arrays 131 are spaced apart in a direction perpendicular to the first surface 111 and connected to the mounting structure 14, and a socket 132 for inserting the armature winding 26 of the stator wire body 20 is formed between the two magnet arrays 131. In other words, the socket 132 for inserting the armature winding 26 of the stator wire body 20 is formed by the magnet module alone.

[0377] The mounting structure 14 includes a mounting seat 141 extending along a first direction, the mounting seat 141 having a side surface and two end surfaces perpendicular to the first surface 111, the side surface of the mounting seat 141 extending inwardly to form a groove 1411, and both ends of the groove 1411 extending along the first direction to pass through the end surface of the mounting seat 141. Two magnet arrays 131 are respectively arranged on two oppositely arranged slot side walls of the groove 1411, and the two magnet arrays 131 are spaced to form a socket 132 for inserting the armature winding 26 of the stator wire body 20, and at this time, the plane where the socket 132 is located is parallel to or coincides with the plane where the notch of the groove 1411 is located.

[0378] In some embodiments, the mover module 10 also includes a first guide structure 121 and a second guide structure 122, the first guide structure 121 extends along the first direction and is connected to the first surface 111, the second guide structure 122 extends along the first direction and is connected to the first surface 111, and the magnet module is located between the first guide structure 121 and the second guide structure 122.

[0379] The first guide structure 121 is used as one of the tracks in the mover module 10 for slidingly cooperating with the stator wire body 20, and the second guide structure 122 is used as another track in the mover module 10 for slidingly cooperating with the stator wire body 20. The stator wire body 20 includes a third guide structure 22 that slides with the first guide structure 121, and a fourth guide structure 23 that slides with the second guide structure 122. The specific expression form of the first guide structure 121 and the specific expression form of the second guide structure 122 may be the same or different. When the specific expression form of the first guide structure 121 is the same as the specific expression form of the second guide structure 122, the first guide structure 121 and the second guide structure 122 may include a ball slider 123, and at this time, the third guide structure 22 and the fourth guide structure 23 include a guide rail 24 that slides with the ball slider 123.

[0380] The stator wire 20 includes a stator body 21, a third guide structure 22, a fourth guide structure 23 and an armature winding 26. The third guide structure 22 extends along the first direction and is connected to the stator body 21, and the third guide structure 22 is slidably connected to the first guide structure 121. The fourth guide structure 23 extends along the first direction X and is connected to the stator body 21, and the fourth guide structure 23 is slidably connected to the second guide structure 122. The armature winding 26 is located between the third guide structure 22 and the fourth guide structure 23 and is connected to the stator body 21, and the armature winding 26 is magnetically matched with the magnet module.

[0381] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a control method for a linear motor device provided in an embodiment of the present application.

[0382] The embodiment of the present application can divide the functional units of the device according to the above method example. For example, it can correspond to each functional unit, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0383] It should be understood that the device provided in the embodiment of the present application is used to execute the above-mentioned control method of a linear motor device, and thus can achieve the same effect as the above-mentioned implementation method.

[0384] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a linear motor device, the processing module may be used to control and manage the actions of the linear motor device. The storage module may be used to support the linear motor device to execute program codes, etc.

[0385] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0386] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a control method for a linear motor device provided in the above embodiments.

[0387] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a control method for a linear motor device provided in the above embodiment.

[0388] The embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a control method for a linear motor device provided in the above embodiment.

[0389] Among them, the device, computer-readable storage medium, computer program product or chip provided in the embodiments of the present application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here.

[0390] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above.

[0391] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0392] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A control method for a linear motor device, characterized in that: The linear motor device includes a plurality of mover modules and a stator line body, a plurality of operating devices are distributed around the stator line body, each of the mover modules moves along the stator line body and passes through each of the operating devices, and each of the mover modules is independently controlled; the control method includes: When it is detected that the mover module completes the current action, the operation history information corresponding to the mover module is obtained to obtain an acquisition result; wherein the operation history information is obtained based on the processing operation experienced by the mover module before performing the current action; Based on the acquisition result of the operation history information and the completion result of the current action of the actuator module, the actuator module is controlled to perform the next action so that the actuator module cooperates with the target device; wherein the target device is an operating device among the multiple operating devices that matches the acquisition result and the completion result of the current action.

2. The control method of the linear motor device according to claim 1, characterized in that: The detecting that the mover module completes the current action includes: Detecting that the mover module completes the starting action; or, It is detected that the mover module completes the cooperation action with the cooperation device, and the cooperation device is the operating device that cooperates with the mover module among the multiple operating devices.

3. The control method of the linear motor device according to claim 1, characterized in that: The controlling the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module, so that the mover module cooperates with the target device, includes at least one of the following: In the case where the acquisition result of the operation history information indicates that the operation history information has not been acquired, if the current action completion result of the mover module indicates that the action is successfully executed, controlling the mover module to execute an action related to the first cooperating operating device; When the acquisition result of the operation history information indicates that the operation history information is acquired, the actuator module is controlled to perform the next action in combination with the operation history information and the completion result of the current action to cooperate with the target device.

4. The control method of the linear motor device according to claim 1, characterized in that: The step of obtaining the operation history information corresponding to the moving submodule to obtain the acquisition result includes: A read operation is performed on a storage area corresponding to the assigned moving submodule, and if the operation history information is not read, a first acquisition result is generated, otherwise a second acquisition result is generated.

5. The control method of the linear motor device according to claim 1, characterized in that: The controlling the moving module to perform the next action includes at least one of the following: Controlling the movement of the mover module; Controlling the communication between the moving module and the target device.

6. The control method of the linear motor device according to claim 1, characterized in that: The step of controlling the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module comprises: Based on the acquisition result of the operation history information and the completion result of the current action of the mover module, the target control parameter is acquired, and based on the target control parameter, the mover module is controlled to perform the next action; wherein the target control parameter is a control parameter used to indicate the next action of the mover module.

7. The control method of the linear motor device according to claim 6, characterized in that: The target control parameters include any one of the following or a combination thereof: Speed ​​control data, acceleration control data, time control data, anti-collision distance control data, target position data; Wherein, the speed control data is used to indicate the moving speed of the mover module in the process of moving to the target device; the speed control data includes an expected speed value and / or a speed limit value; the expected speed value is used to characterize the speed value expected to be at when the mover module reaches the position corresponding to the target device; the speed limit value is used to characterize the upper limit speed value that cannot be exceeded and / or the lower limit speed value that cannot be lowered in the process of the mover module moving to the target device; The acceleration control data is used to indicate the acceleration of the mover module during the process of moving to the target device; The time control data is used to indicate the time taken by the mover module to move to the target device; The anti-collision distance control data is used to indicate the anti-collision distance between the mover module and other mover modules during the process of the mover module moving to the target device; The target location data is used to indicate the location of the target device.

8. The control method of the linear motor device according to claim 6, characterized in that: The target control parameters include: a communication control sub-parameter, which is used to indicate that when it is detected that the movable sub-module moves to the target device, arrival information is sent to the target device; and / or, which is used to indicate that when it is detected that the movable sub-module moves to a non-target device, it is prohibited to send arrival information to the non-target device, or to send a prohibition operation execution information to the non-target device, and the non-target device is an operating device that is not a target device.

9. The control method of the linear motor device according to claim 6, characterized in that: The acquiring of the target control parameter based on the acquisition result of the operation history information and the completion result of the current action of the mover module comprises at least one of the following: The local control device obtains the target control parameter based on the acquisition result of the operation history information and the completion result of the current action of the actuator module; The host computer obtains the target control parameter based on the acquisition result of the stored operation history information and the completion result of the current action of the actuator module; The local control device sends the acquisition result and the completion result of the current action of the moving module to the host computer, and the host computer acquires the target control parameter based on the received acquisition result and the completion result of the current action of the moving module; The host computer sends the acquisition result to the local control device, and the local control device acquires the target control parameter based on the received acquisition result and the completion result of the current action of the actuator module.

10. The control method of the linear motor device according to claim 1, characterized in that: The step of controlling the mover module to perform a next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module, so that the mover module cooperates with the target device, includes at least one of the following: If the acquisition result indicates that the operation history information has not been acquired and the current action completion result of the mover module indicates that the start-up is successful, the mover module is controlled to perform actions related to the feeding device; If the result of the current action of the mover module indicates that the mover module fails to load materials under no-load state, the mover module is controlled to execute related actions of waiting for reloading, or the mover module is controlled to move under no-load state until it cooperates with the previous loading device or another loading device.

11. The control method of the linear motor device according to claim 1, characterized in that: The method further comprises: When the mover module moves past a non-feeding device in an unloaded state, the non-feeding device is prevented from cooperating with the mover module.

12. The control method of the linear motor device according to claim 1, characterized in that: The controlling the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module comprises at least one of the following: If the result of the current action completion of the mover module indicates that the object is successfully loaded, then according to the result of obtaining the operation history information, the mover module is controlled to perform an action related to the first target device, where the first target device is a processing device or a material unloading device; If the result of the current action of the mover module indicates that the object is successfully processed, then according to the result of obtaining the operation history information, the mover module is controlled to perform an action related to a second target device, where the second target device is a processing device or a first unloading device; If the result of the current action completion of the mover module indicates that the object processing fails, the mover module is controlled to perform an action related to a third target device according to the acquisition result of the operation history information, and the third target device is the first unloading device or the second unloading device.

13. The control method of the linear motor device according to claim 1, characterized in that: The plurality of mover modules are used to transport at least two types of objects; the operating equipment includes a processing device for processing objects of a specified type and a material unloading device for transferring objects of a specified type; The controlling the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module comprises at least one of the following: If the result of the current action completion of the mover module indicates that the object type is successfully loaded and the operation history information of the mover module indicates that the object has not been processed, then control the mover module to perform an action related to the first processing equipment matching the object type; If the completion result of the current action of the mover module indicates successful processing and the operation history information of the mover module indicates the type and processing status of the object, the mover module is controlled to perform actions related to the target equipment matching the object type, and the target equipment includes: processing equipment or unloading equipment matching the object type.

14. The control method of the linear motor device according to claim 1, characterized in that: The plurality of operating devices include unloading equipment; The controlling the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module includes at least one of the following: If the result of the current action completion of the mover module indicates that the processing is successful and the operation history information of the mover module indicates that there is no processing failure operation of the object conveyed by the mover module, the mover module is controlled to cooperate with the unloading device to place the object in the first area; If the result of the current action of the mover module indicates that the processing has failed, the mover module is controlled to cooperate with the unloading device to place the object in the second area.

15. The control method of the linear motor device according to claim 1, characterized in that: The controlling the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module includes at least one of the following: If the result of the current action of the mover module indicates that the processing is successful and the operation history information of the mover module indicates that there is no processing failure operation of the object conveyed by the mover module, control the mover module to perform the action related to the first unloading device; If the result of the current action of the mover module indicates that the processing has failed, the mover module is controlled to perform an action related to the second blanking device.

16. The control method of the linear motor device according to claim 1, wherein the plurality of operating devices include a plurality of unloading devices, and the plurality of unloading devices are used to carry different types of objects; The step of controlling the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module comprises: According to the object type and object operation status indicated by the operation history information of the mover module and the completion result of the current action of the mover module, the mover module is controlled to perform actions related to the unloading equipment matching the type of the object.

17. The control method of the linear motor device according to claim 1, wherein the step of controlling the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module comprises: When the completion result of the current action of the mover module indicates that the material unloading is successful, the mover module is controlled to execute an action matching the acquisition result of the operation history information.

18. The control method of the linear motor device according to claim 1, characterized in that: Before obtaining the operation history information corresponding to the mover module, the method further includes: Obtaining a mover identification of the mover module; According to the mover identification, a corresponding relationship between the mover module and the storage area is established, and the storage area is used to store operation history information.

19. The control method of the linear motor device according to claim 18, characterized in that: The establishing a correspondence between the mover module and the storage area according to the mover identifier includes: Constructing a data structure corresponding to each of the mover modules; wherein the data structure includes a processing operation variable for recording a processing operation condition, and the processing operation variable is associated with the storage area through address mapping; According to the data structure corresponding to each of the mover modules and the mover identifier, a corresponding relationship between the mover modules and the corresponding data structure is established.

20. The control method of the linear motor device according to claim 1, characterized in that: When it is detected that the mover module completes the current action, the operation history information corresponding to the mover module is obtained, including: When it is detected that the mover module completes the current action, based on the mover identification of the mover module, the operation history information corresponding to the mover module is obtained; After obtaining the operation history information corresponding to the mover module, the method further includes: Based on the mover identification of the mover module, the operation information corresponding to the action completed by the mover module is stored as the operation history information.

21. The control method of the linear motor device according to claim 20, characterized in that: The method for determining the mover identification includes at least one of the following: Determining a mover identification automatically assigned to the mover module; Identify a physical tag disposed on the outer surface of the mover module, obtain tag identification information carried by the physical tag, and use the tag identification information as a mover identification; Identify the physical label set on the outer surface of the mover module, obtain the label identification information carried by the physical label, and determine the mover identification corresponding to the label identification information, wherein the label identification information is associated with the mover identification automatically assigned to the mover module.

22. The control method of the linear motor device according to claim 20, characterized in that: The method further comprises at least one of the following: After the result of the current action completion of the mover module indicates that the loading is successful, the object identification of the loading object is updated to the mover identification of the mover module; When the result of the current action completion of the mover module indicates the addition of a new object, the combination identifier is updated to the mover identifier of the mover module; wherein the combination identifier includes the identifiers of the various objects carried by the mover module.

23. The control method of the linear motor device according to claim 21, characterized in that: Different mover identifiers correspond to different storage areas; the mover identifier of the mover module is automatically allocated in the following manner: Determine a first target storage area according to the free capacity of the storage area corresponding to the assignable mover identifier; wherein the first target storage area is a storage area whose free capacity satisfies a preset capacity condition among the storage areas corresponding to the assignable mover identifiers; Using the mover identifier corresponding to the first target storage area as the mover identifier allocated to the mover module; or, Determine a second target storage area according to the storage duration of the information stored in the storage area corresponding to the assignable mover identifier; wherein the second target storage area is a storage area in the storage area corresponding to the assignable mover identifier whose storage duration satisfies a preset duration condition; The mover identifier corresponding to the second target storage area is used as the mover identifier allocated to the mover module.

24. The control method of the linear motor device according to claim 21, characterized in that: The control method is applied to a control device, which is a local control device or a host computer of the linear motor device; Before identifying the physical tag set on the outer surface of the mover module and obtaining the tag identification information carried by the physical tag, the method further includes: The mover module is bound to the tag identification information carried by the physical tag of the mover module through the local control device or the host computer.

25. The control method of the linear motor device according to claim 24, characterized in that: In the case where the tag identification information is bound to the mover module by the local control device, if the control method is applied to the host computer, the method further includes: receiving a binding result of binding the tag identification information to the mover module sent by the local control device; In the case where the tag identification information is bound to the mover module through the host computer, if the control method is applied to the local control device, the method further includes: receiving a binding result sent by the host computer for binding the tag identification information to the mover module.

26. The control method of the linear motor device according to claim 25, characterized in that: The tag identification module is connected to the host computer; The step of binding the tag identification information to the mover module by the local control device includes: When the host computer obtains the position information of the moving sub-module, the host computer controls the tag identification module to perform a tag identification operation and obtain tag identification information, and sends the obtained tag identification information to the local control device, and the local control device binds the obtained tag identification information to the moving sub-module corresponding to the tag identification module according to the position information of the moving sub-module; The step of binding the tag identification information to the mover module through the host computer includes: When the host computer obtains the position information of the moving submodule, the tag recognition module is controlled to perform a tag recognition operation and obtain tag identification information, and the host computer binds the obtained tag identification information to the moving submodule corresponding to the tag recognition module.

27. The control method of the linear motor device according to claim 25, characterized in that: The tag identification module is connected to the local control device; The step of binding the tag identification information to the mover module by the local control device includes: After the local control device obtains the position information of the moving submodule, the tag recognition module is controlled to perform a tag recognition operation and obtain tag identification information, and the obtained tag identification information is bound to the moving submodule corresponding to the tag recognition module; The step of binding the tag identification information to the mover module through the host computer includes: The local control device sends the acquired tag identification information to the host computer to instruct the host computer to identify the tag identification information and the movable module corresponding to the tag identification module, and the host computer binds the tag identification information to the movable module corresponding to the tag identification module.

28. The control method of the linear motor device according to claim 1, characterized in that: The method further comprises: After the completion result of the current action of the mover module indicates that the material is unloaded successfully, a corresponding relationship is established between the operation history information of the mover module and the object of unloading.

29. A control device for a linear motor device, characterized in that: The linear motor device comprises: A plurality of mover modules and a stator line body, a plurality of operating devices are distributed around the stator line body, each of the mover modules moves along the stator line body and passes through each of the operating devices, and each of the mover modules is independently controlled; the control device includes: An acquisition unit, configured to acquire operation history information corresponding to the mover module and obtain an acquisition result after detecting that the mover module completes the current action; wherein the operation history information is obtained based on the processing operation experienced by the mover module before performing the current action; A control unit is used to control the mover module to perform the next action based on the acquisition result of the operation history information and the completion result of the current action of the mover module, so that the mover module cooperates with the target device; wherein the target device is an operation device determined among the multiple operation devices according to the acquisition result and the completion result of the current action.

30. A linear motor device, characterized in that: include: Multiple mover modules, stator filaments and control devices; A plurality of operating devices are distributed around the stator wire body; Each of the mover modules moves along the stator line and passes through each of the operating devices; The control device is used to execute the control method of the linear motor device according to any one of claims 1 to 28.

31. The linear motor device according to claim 30, characterized in that An identifiable physical label is provided on the outer surface of the mover module, and the label identification information carried by the physical label is unique and fixed; The linear motor device further comprises: a tag identification module connected to the control device, The tag identification module is deployed along the stator line based on the moving direction of the mover module and the setting position of the physical tag; The tag recognition module is used to identify the physical tag of the mover module when there is a mover module with a corresponding position, obtain the tag identification information carried by the physical tag, and send it to the control device; The control device is used to determine the storage area corresponding to the mover module based on the tag identification information.

32. The linear motor device according to claim 31, characterized in that The tag identification module is deployed at an upstream position of a first operating device corresponding to the stator wire or at a starting operating position of the first operating device, and the upstream position is before the starting operating position.

33. The linear motor device according to claim 31, characterized in that The tag identification module and the physical tag are arranged in a receiving space formed between the stator wire body and the mover module.

34. The linear motor device according to claim 31, characterized in that The linear motor device further includes a transfer mechanism, and the transfer mechanism is used to transfer the mover module; The label identification module is arranged at a position corresponding to the transfer mechanism, and is used for identifying the physical label of the mover module during the process of the transfer mechanism transferring the mover module.

35. The linear motor device according to claim 31, characterized in that The label identification module is arranged at the end of the stator wire body, and is used for identifying the physical label of the mover module when the mover module leaves or enters the stator wire body.

36. The linear motor device according to claim 31, characterized in that The tag identification module includes a first tag identification module and / or a second tag identification module. The first tag identification module is arranged at a position corresponding to each of the operating devices, and the second tag identification module is arranged at a position between any two of the operating devices.

37. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an executable program code, and when the executable program code is executed, the method according to any one of claims 1 to 28 is implemented.

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