Related method and device of linear motor equipment, storage medium and electronic equipment

Abstract

The invention provides a related method of linear motor equipment, the method is applied to industrial conveying, and the method comprises the following steps: creating a plurality of position points, the plurality of position points are distributed along a stator line body, the plurality of position points are used for controlling the moving path of a mover module, and the mover module is used for controlling the moving path of the mover module based on the conveying process information of the mover module. And corresponding dynamic pointing information is configured for each position point, and the dynamic pointing information is used for dynamically indicating a pointing object of the position point according to a conveying condition existing in the transportation scene. According to the method, the dynamic pointing information can be configured for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position points is achieved, the position points are used for controlling the moving path of the mover module, and the dynamic adjustment of the pointing of the position points can enable the moving path of the mover module to have variability; the moving flexibility of the mover module is improved, so that the transportation efficiency is improved, and the device is more suitable for complex and changeable working scenes.

Description

Technical Field

[0001] The present application relates to the field of industrial transportation technology, and more specifically, to related methods, devices, storage media, and electronic devices of a linear motor device in the field of industrial transportation technology. Background Art

[0002] In the prior art, belt transportation lines can already be used for item transportation and / or processing. However, since the entire process of item transportation is realized by the same conveyor belt of the belt transportation line, the items placed on the belt transportation line can only move uniformly, and the item transportation process is fixed, resulting in low transportation efficiency. Summary of the Invention

[0003] Embodiments of the present application provide related methods, devices, storage media, and electronic devices of a linear motor device. By dynamically adjusting the moving path of the mover module, the flexibility of the item transportation process is improved, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios.

[0004] In a first aspect, an embodiment of the present application provides a configuration method for a linear motor device. The linear motor device is applied to a transportation scenario, and the linear motor device includes a mover module and a stator line body. The method includes:

[0005] Create a plurality of position points, where the plurality of position points are distributed along the stator line body, and the plurality of position points are used to control the moving path of the mover module;

[0006] Based on the transportation process information of the mover module, configure corresponding dynamic pointing information for each of the position points, where the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the transportation situation existing in the transportation scenario.

[0007] In a second aspect, an embodiment of the present application provides a control method for a linear motor device. The linear motor device is applied to a transportation scenario, and the linear motor device includes a mover module and a stator line body. The method includes:

[0008] Based on the position information of the mover module and the configuration information of a plurality of position points, determine the mover module and the position point with a position correspondence relationship to obtain a target mover module and a target position point. The plurality of position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the transportation situation existing in the transportation scenario;

[0009] Obtain transportation monitoring information related to the target mover module, where the transportation monitoring information is monitored according to the transportation situation of the transportation scenario;

[0010] Determine the pointing object of the target position point based on the transportation monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0011] Control the moving path of the mover module based on the pointing object of the target position point.

[0012] In a third aspect, an embodiment of the present application provides a configuration method for a linear motor device. The method is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, and the linear motor device includes a mover module and a stator line body. The method includes:

[0013] Create a plurality of position points, where the plurality of position points are distributed along the stator line body, and the plurality of position points are used to control the moving path of the mover module;

[0014] Configure corresponding dynamic pointing information for each of the position points based on the transportation process information of the mover module, where the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the transportation situation existing in the transportation scenario.

[0015] In a fourth aspect, an embodiment of the present application provides a control method for a linear motor device. The linear motor device is applied to a transportation scenario, the linear motor device is connected to a host computer, and the linear motor device includes a mover module and a stator line body. The method includes:

[0016] Receive the configuration information of a plurality of position points sent by the host computer, where the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the transportation situation existing in the transportation scenario;

[0017] Based on the position information of the mover module and the configuration information of the plurality of position points, determine the mover module and the position point with a position correspondence relationship to obtain a target mover module and a target position point, where the plurality of position points are distributed along the stator line body;

[0018] Obtain the transportation monitoring information related to the target mover module, where the transportation monitoring information is monitored according to the transportation situation of the transportation scenario;

[0019] Determine the pointing object of the target position point based on the transportation monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0020] Control the moving path of the mover module based on the pointing object of the target position point.

[0021] Fifth aspect, an embodiment of the present application provides a control method for a linear motor device, which is applied to a host computer. The host computer is connected to the linear motor device, and the linear motor device is applied to a transportation scenario. The linear motor device includes a mover module and a stator line body. The method includes:

[0022] Based on the position information of the mover module and the configuration information of multiple position points, determine the mover module and the position point with a position correspondence relationship, and obtain the target mover module and the target position point. Among them, the multiple position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the transportation situation existing in the transportation scenario;

[0023] Obtain the transportation monitoring information related to the target mover module, where the transportation monitoring information is monitored according to the transportation situation of the transportation scenario;

[0024] Based on the transportation monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, determine the pointing object of the target position point;

[0025] Generate a control instruction based on the pointing object of the target position point, and send the control instruction to the linear motor device to control the movement path of the mover module.

[0026] Sixth aspect, an embodiment of the present application provides a control method for a linear motor device. The linear motor device is applied to a transportation scenario, the linear motor device is connected to a host computer, and the linear motor device includes a mover module and a stator line body. The method includes:

[0027] Receive the control instruction sent by the host computer;

[0028] Based on the control instruction, determine the target position point and the pointing object of the target position point. The target position point is the position point obtained based on the position information of the mover module and the configuration information of multiple position points, and has a position correspondence relationship with the mover module. The multiple position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the transportation situation existing in the transportation scenario;

[0029] Based on the pointing object of the target position point, control the movement path of the target mover module corresponding to the target position point. The target mover module is the mover module that has a position correspondence relationship with the target position point.

[0030] Seventh aspect, an embodiment of the present application provides a configuration device for a linear motor device. The configuration device is connected to the linear motor device. The linear motor device is applied to a transportation scenario. The linear motor device includes a mover module and a stator wire body. The configuration device includes:

[0031] A position point creation unit that creates a plurality of position points. Among them, the plurality of position points are distributed along the stator wire body, and the plurality of position points are used to control the movement path of the mover module;

[0032] A pointing information configuration unit that, based on the conveying process information of the mover module, configures corresponding dynamic pointing information for each of the position points. Among them, the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario.

[0033] Eighth aspect, an embodiment of the present application provides a control device for a linear motor device. The control device is connected to the linear motor device. The linear motor device is applied to a transportation scenario. The linear motor device includes a mover module and a stator wire body. The control device includes:

[0034] A target determination unit that, based on the position information of the mover module and the configuration information of a plurality of position points, determines the mover module and the position point with a position correspondence relationship to obtain a target mover module and a target position point. Among them, the plurality of position points are distributed along the stator wire body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario;

[0035] A monitoring information acquisition unit that is used to acquire conveying monitoring information related to the target mover module. Among them, the conveying monitoring information is monitored according to the conveying situation of the transportation scenario;

[0036] A pointing object determination unit that is used to determine the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0037] A mover module control unit that is used to control the movement path of the mover module based on the pointing object of the target position point.

[0038] Ninth aspect, an embodiment of the present application provides a configuration device for a linear motor device. The configuration device is applied to a host computer. The host computer is connected to the linear motor device. The linear motor device is applied to a transportation scenario. The linear motor device includes a mover module and a stator wire body. The configuration device includes:

[0039] A position point creation unit for creating a plurality of position points, wherein the plurality of position points are distributed along the stator line body, and the plurality of position points are used to control the movement path of the mover module;

[0040] A pointing information configuration unit for configuring corresponding dynamic pointing information for each of the position points based on the conveying process information of the mover module, wherein the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario.

[0041] In a tenth aspect, an embodiment of the present application provides a control device for a linear motor device, characterized in that the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, the control device is used to control the mover module and the control device is connected to a host computer, and the control device includes:

[0042] A configuration information receiving unit for receiving the configuration information of a plurality of position points sent by the host computer, the configuration information including dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario;

[0043] A target determination unit for determining the mover module and the position point with a position correspondence relationship based on the position information of the mover module and the configuration information of the plurality of position points, to obtain a target mover module and a target position point, wherein the plurality of position points are distributed along the stator line body;

[0044] A monitoring information acquisition unit for acquiring the conveying monitoring information related to the target mover module, wherein the conveying monitoring information is monitored according to the conveying situation of the transportation scenario;

[0045] A pointing object determination unit for determining the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0046] A mover module control unit for controlling the movement path of the mover module based on the pointing object of the target position point.

[0047] In an eleventh aspect, an embodiment of the present application provides a control device for a linear motor device, characterized in that the control device is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the control device includes:

[0048] A target determination unit, configured to determine a mover module and a position point with a position correspondence relationship based on the position information of the mover module and the configuration information of multiple position points, so as to obtain a target mover module and a target position point, where the multiple position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario;

[0049] A conveying monitoring information acquisition unit, configured to acquire conveying monitoring information related to the target mover module, where the conveying monitoring information is monitored according to the conveying situation of the transportation scenario;

[0050] A pointing object determination unit, configured to determine the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0051] A control instruction sending unit, configured to generate a control instruction based on the pointing object of the target position point and send the control instruction to the linear motor device to control the moving path of the mover module.

[0052] In a twelfth aspect, an embodiment of the present application provides a control device for a linear motor device, characterized in that the control device is applied to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device is connected to a host computer, and the linear motor device includes a mover module and a stator line body, and the control device includes:

[0053] A control instruction receiving unit, configured to receive a control instruction sent by the host computer;

[0054] An instruction parsing unit, configured to determine a target position point and the pointing object of the target position point based on the control instruction, where the target position point is determined based on the position information of the mover module and the configuration information of multiple position points, the multiple position points are distributed along the stator line body, the configuration information includes dynamic pointing information, the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario, and the pointing object of the target position point is determined based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0055] A mover module control unit, configured to control the moving path of the target mover module corresponding to the target position point based on the target position point, the pointing object of the target position point, and the position information of the mover module.

[0056] In a thirteenth aspect, an embodiment of the present application provides a computer storage medium storing multiple instructions adapted to be loaded and executed by a processor to perform the above method steps.

[0057] In a fourteenth aspect, an embodiment of the present application provides an electronic device, which may include: a processor and a memory; wherein, the memory stores a computer program adapted to be loaded and executed by the processor to perform the above method steps.

[0058] In the configuration solution provided by the embodiment of the present application, multiple position points are created, wherein the multiple position points are distributed along the stator wire body, and the multiple position points are used to control the movement path of the mover module. Based on the conveying process information of the mover module, corresponding dynamic pointing information is configured for each of the position points, wherein the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario. By configuring dynamic pointing information for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position point is realized. Since the multiple position points are used to control the movement path of the mover module, dynamically adjusting the pointing of the position point can make the movement path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios.

[0059] In the control solution provided by the embodiment of the present application, based on the position information of the mover module and the configuration information of the multiple position points, the mover module and the position point with a position correspondence relationship are determined to obtain a target mover module and a target position point, and conveying monitoring information related to the target mover module is obtained, wherein the conveying monitoring information is monitored according to the conveying situation of the transportation scenario. Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, the pointing object of the target position point is determined, and based on the pointing object of the target position point, the movement path of the mover module is controlled. By determining the pointing object of the target position point corresponding to the mover module through the dynamic pointing information and the conveying monitoring information, the function of dynamically adjusting the pointing of the position point according to the conveying situation is realized. Since the multiple position points are used to control the movement path of the mover module, dynamically adjusting the pointing of the position point can make the movement path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios. Description of the Drawings

[0060] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0061] Figure 1 is a schematic structural diagram of a linear motor device provided by an embodiment of the present application;

[0062] Figure 2 is a schematic flowchart of a configuration method of a linear motor device provided by an embodiment of the present application;

[0063] Figure 3 is an example schematic diagram of the correspondence between position points and nodes provided by an embodiment of the present application;

[0064] Figure 4 is an example schematic diagram of shunt control of a mover module provided by an embodiment of the present application;

[0065] Figure 5 is a schematic flowchart of a configuration method of a linear motor device provided by an embodiment of the present application;

[0066] Figure 6 is an example schematic diagram of the dynamic pointing relationship between position points of different levels of information provided by an embodiment of the present application;

[0067] Figure 7 is a schematic diagram of setting the hierarchical relationship between position points provided by an embodiment of the present application;

[0069] Figure 8 is a schematic diagram of the dynamic pointing relationship between position points of different attribute information provided by an embodiment of the present application;

[0070] Figure 9 is a schematic flowchart of a control method of a linear motor device provided by an embodiment of the present application;

[0071] Figure 10 is a schematic flowchart of a related method of a linear motor device provided by an embodiment of the present application;

[0072] Figure 11 is a schematic flowchart of a related method of a linear motor device provided by an embodiment of the present application;

[0073] Figure 12 is a schematic flowchart of a configuration method of a linear motor device provided by an embodiment of the present application;

[0074] Figure 13 It is a schematic flow chart of a configuration method for a linear motor device provided by an embodiment of the present application;

[0075] Figure 14 It is a schematic flow chart of a control method for a linear motor device provided by an embodiment of the present application;

[0076] Figure 15 It is a schematic flow chart of a control method for a linear motor device provided by an embodiment of the present application;

[0077] Figure 16 It is a schematic flow chart of a control method for a linear motor device provided by an embodiment of the present application;

[0078] Figure 17 It is a schematic flow chart of a control method for a linear motor device provided by an embodiment of the present application;

[0079] Figure 18 It is a schematic flow chart of a control method for a linear motor device provided by an embodiment of the present application;

[0080] Figure 19 It is a schematic structural diagram of a configuration device for a linear motor device provided by an embodiment of the present application;

[0081] Figure 20 It is a schematic structural diagram of a control device for a linear motor device provided by an embodiment of the present application;

[0082] Figure 21 It is a schematic structural diagram of a configuration device for a linear motor device provided by an embodiment of the present application;

[0083] Figure 22 It is a schematic structural diagram of a control device for a linear motor device provided by an embodiment of the present application;

[0084] Figure 23 It is a schematic structural diagram of a control device for a linear motor device provided by an embodiment of the present application;

[0085] Figure 24 It is a schematic structural diagram of a control device for a linear motor device provided by an embodiment of the present application;

[0086] Figure 25 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0087] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0088] As can be seen from the above description, the efficiency of transporting items through a belt conveyor line is relatively low. Therefore, in the embodiments of the present application, a linear motor device is applied to the transportation scenario. To facilitate the understanding and implementation of the embodiments of the present application, the structure and working principle of the linear motor device will be schematically described below.

[0089] The linear motor device in the embodiments of the present application is applied to the transportation scenario. Please refer to Figure 1 together, which is a schematic structural diagram of a linear motor device provided by the embodiments of the present application. The linear motor device may include a stator line body 101 and a plurality of mover modules (such as Figure 1 the mover module 102 shown in). The electronic device of the linear motor device ( Figure 1 not shown in) can control the mover module to move along the stator line body 101, thereby playing a role in transportation. For example, after the mover module 102 is loaded with the items to be transported, by controlling the mover module 102 to move along the stator line body 101, the transportation of the items from one position to another can be realized.

[0090] Specifically, the stator line body 101 may include a plurality of stator modules ( Figure 1 not shown in), and the stator line body 101 can be understood as a linear structure formed by splicing a plurality of stator modules.

[0091] It can be understood that the shape formed by deploying the stator line body in the moving direction of the mover module can be not only a runway shape as shown in Figure 1 , but also other shapes such as a straight line shape, a polygon shape, a circular shape, etc. It can also be understood that the line formed by deploying the stator line body in the moving direction of the mover module can include one or more of a closed line segment, a bifurcated line segment, and a non-closed line segment. The shape and deployment method of the stator line body can be determined according to the actual transportation scenario and transportation requirements.

[0092] The stator module and the mover module respectively include magnetic components, and at least one of the magnetic components included in the stator module or the mover module has a variable magnetic field, so that the magnetic fields between the stator module and the mover module interact with each other, generating a force acting on the mover module and driving the mover module to move along the stator line body. For example, the stator module may include a coil winding ( Figure 1(not shown in the figure), the mover module (such as the mover module 102) may include permanent magnets. The interaction of magnetic fields forms a thrust force. After the coil windings are energized, a changing magnetic field can be generated, which interacts with the magnetic field of the permanent magnets, causing the mover module to move relative to the stator body.

[0093] It can be understood that the related methods of the linear motor device provided by the embodiments of the present application can be implemented depending on a computer program and can run on an electronic device of the linear motor device based on the von Neumann architecture. This computer program can be integrated in an application or run as an independent tool-type application. The electronic device can be a module or application program in the linear motor device for implementing the related methods of the linear motor device, or can be an electronic device independent of the linear motor device. The electronic device can control the stator module and the mover module in the linear motor device.

[0094] There may also be an operating device in the transportation scenario. The operating device can interact with the mover module. The specific interaction process between the two can be to perform corresponding processing operations on the mover module. For example, the operating device can perform one or more operations such as material loading, material unloading, and material processing on the mover module. In the existing related technologies, to achieve the movement control of the mover module, before the linear motor device officially operates, it is necessary to load the movement control parameters of the mover module into the relevant computer program of the linear motor device. Thus, the electronic device of the linear motor device controls the movement path of the mover module according to the movement control parameters. However, with the diversification of application scenarios (such as an increase in operating devices), the movement control parameters that need to be set also increase accordingly, and the control logic of the mover module becomes more and more complex.

[0095] Based on this, the electronic device of the linear motor device can set one or more position points (such as Figure 1 position point 103 in the figure) along the stator body of the linear motor device. The number and distribution of the position points are related to the operating device. The position points can be used to control the movement path of the mover module along the stator body. In other words, the position points indicate the position that the mover module is going to, thereby playing a role in guiding the movement of the mover module. In order to enable the electronic device of the linear motor device to more accurately control the movement of the mover module along the stator body, the electronic device obtains the conveying situation in the transportation scenario. Therefore, there may also be a conveying monitoring device in the transportation scenario. The conveying monitoring device can be used to monitor the conveying situation in the transportation scenario. The conveying monitoring device can include an image sensor, an infrared sensor, a magnetic sensor, a laser sensor, etc., and can also include a position sensor and a speed sensor, etc. Thus, the conveying monitoring device can obtain the position information of the mover module in the transportation scenario and can also monitor the working conditions of the linear motor device and the operating device.

[0096] It can be understood that, as described in the above related parts, there are a stage of setting a computer program and a stage of officially running the linear motor device. For the convenience of description and understanding, in this application, they can be referred to as the configuration stage and the operation stage. According to the actual situation, the electronic device can be applied to the configuration stage and / or the operation stage. Specifically, the electronic device can be used to execute the configuration method of the linear motor device in the configuration stage, and / or the electronic device can be used to execute the control method of the linear motor device in the operation stage.

[0097] In the configuration stage, multiple position points can be created, and dynamic pointing information can be configured for each position point according to the conveying process information of the mover module. Among them, the conveying process information is the required conveying process of the mover module, which can include the positions and processes of material loading, conveying process, material handling, and material unloading required by the mover module. The dynamic pointing information of each position point is used to dynamically indicate the pointing object of the position point according to the conveying process information and in combination with the conveying situation existing in the transportation scenario. In the operation stage, the mover module can be controlled to move on the stator line according to the dynamically configured pointing information in the configuration stage and in combination with the actual conveying situation of the transportation scenario. The conveying situation existing in the transportation scenario can include the operating conditions of the linear motor device, the operating conditions of the operating device, the operating conditions when interacting between the mover module and the operating device, etc.

[0098] It can be understood that the position point configuration and the movement control of the mover module can be performed through the electronic device included in the linear motor device, or can be performed through the host computer, or the position point configuration and the movement control of the mover module can be realized through the interaction between the host computer and the linear motor device. Among them, the host computer can be connected to the linear motor device. Specifically, the host computer can be connected to the electronic device of the linear motor device to perform information interaction and command interaction with the electronic device of the linear motor device.

[0099] The following will specifically describe in detail the related methods of the linear motor device provided in this application with reference to specific embodiments.

[0100] Please refer to Figure 2 , which is a schematic flowchart of a configuration method for a linear motor device provided by an embodiment of this application. As Figure 2 shown, the method of this embodiment of this application is described based on the linear motor device, and may include the following steps S101 and S102.

[0101] S101, create multiple position points.

[0102] Specifically, multiple position points can be created based on the stator wire body. The multiple position points are distributed along the stator wire body. The number and distribution of the position points are related to the operating device. The multiple position points can be used to control the movement path of the mover module. In other words, the position points indicate the positions that the mover module is to drive towards, thereby playing a role in guiding the movement of the mover module. It can be understood that the position points described in the embodiments of the present application are not physical position points set based on the stator wire body, but virtual position points set by the electronic device of the linear motor device based on the application program and used to indicate and describe the positions that the mover module is to drive towards on the stator wire body.

[0103] S102, based on the conveying process information of the mover module, configure corresponding dynamic pointing information for each position point.

[0104] Specifically, the conveying process information of the mover module can be obtained. The conveying process information can be the conveying process required by the mover module in the current actual transportation scenario, and it can be generated based on the input operation of the staff. The conveying process information can include processes such as material loading, conveying process, material processing, and material unloading required by the mover module. For example, it can include which position point the mover module needs to obtain an item from, and then to which position point the obtained item is to be conveyed.

[0105] Corresponding dynamic pointing information can be configured for each position point according to the conveying process information of the mover module. The dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario. For example, the linear motor device can be set to establish a dynamic pointing relationship between the position point and the pointing object when the mover module reaches the position point, combined with the conveying situation of different transportation scenarios. The dynamic pointing relationship can represent the relationship that the position point conditionally points to the pointing object, and can be used to indicate and control the mover module to move from the current position point to the pointing object. Through the pre-configured dynamic pointing information of each position point, the linear motor device can determine the pointing object of each position point according to the actual conveying situation, realizing the function of dynamically adjusting the pointing of the position point.

[0106] Among them, the conveying situations existing in the transportation scenario may include the operating conditions of the linear motor device, the operating conditions of the operating device, and the operating conditions of the interaction between the mover module and the operating device, etc. The operating conditions may include the working conditions of the mover module or the operating device, such as starting or not starting, etc., and may also include the fault conditions of the mover module or the operating device, such as whether there is a power failure, short circuit, damage, etc., and may also include the load-carrying conditions of the mover module or the operating device, such as whether the object has fallen, etc. The operating conditions may also include the interaction conditions between the mover module and the operating device, such as submitting items, receiving items, cooperating in processing, whether the number of mover modules interacting with the operating device reaches the maximum value, etc. The pointing object is used to represent the next position point to be reached by the mover module. According to the transportation situation of the actual transportation scenario, the pointing object may be one of the remaining position points among multiple position points except the current position point of the mover module, or may be the current position point of the mover module.

[0107] For example, the dynamic pointing information of position point A may be: based on the material loading operation condition of the mover module, when it is recognized that the material loading operation of the mover module is successful, the pointing object of position point A is position point B, otherwise, the pointing object of position point A is position point C. That is, according to the dynamic pointing information of position point A, there is a dynamic pointing relationship between position point A and position point B, and a dynamic pointing relationship between position point A and position point C.

[0108] Based on this, after it is recognized that the mover module reaches position point A, if the material loading operation of the mover module is successful, then according to the dynamic pointing information of position point A, the pointing object of position point A is position point B, so as to control the mover module to move from position point A to position point B; if the material loading operation of the mover module fails, then according to the dynamic pointing information of position point A, the pointing object of position point A is position point C, so as to control the mover module to move from position point A to position point C.

[0109] Another example, the dynamic pointing information of position point D may be: based on the material unloading operation condition of the mover module, when it is recognized that the material unloading operation of the mover module is successful, the pointing object of position point D is position point E, otherwise, the pointing object of position point D is position point D itself. That is, according to the dynamic pointing information of position point D, there is a dynamic pointing relationship between position point D and position point E, and a dynamic pointing relationship between position point D and itself.

[0110] Based on this, after it is recognized that the mover module reaches the position point D, if the material unloading operation of the mover module is successful, then according to the dynamic pointing information of the position point D, the pointing object of the position point D is the position point E, so as to control the mover module to move from the position point D to the position point E; if the material unloading operation of the mover module fails, then according to the dynamic pointing information of the position point D, the pointing object of the position point D is the position point D itself, so as to control the mover module to stay at the position point D.

[0111] In the embodiments of the present application, multiple position points are created, wherein the multiple position points are distributed along the stator line body, and the multiple position points are used to control the movement path of the mover module. Based on the conveying process information of the mover module, corresponding dynamic pointing information is configured for each of the position points, wherein the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario. By configuring the dynamic pointing information for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position point is realized. Since the multiple position points are used to control the movement path of the mover module, dynamically adjusting the pointing of the position point can make the movement path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios.

[0112] In one or more embodiments of the present application, the configuring corresponding dynamic pointing information for each position point based on the conveying process information of the mover module may include the following steps:

[0113] Based on the conveying process information of the mover module, dynamic pointing conditions and pointing objects corresponding to the dynamic pointing conditions are configured for each position point, wherein the pointing objects are selected from multiple position points.

[0114] Specifically, the conveying process information of the mover module can be obtained. The conveying process information can be the conveying process required by the mover module in the current actual transportation scenario, which can be determined by relevant staff and input into the linear motor device. The conveying process information can include processes such as material loading, conveying process, material handling, and material unloading required by the mover module. The dynamic pointing conditions and pointing objects corresponding to the dynamic pointing conditions can be configured for each position point according to the conveying process information of the mover module. In other words, the dynamic pointing conditions and pointing objects corresponding to the dynamic pointing conditions are included in the dynamic pointing information corresponding to the position point.

[0115] It can be understood that there can be multiple judgment results for the dynamic pointing condition, such as the dynamic pointing condition being satisfied or not. Further, depending on the complexity of the specific content of the dynamic pointing condition, there may be judgment results for different situations where the dynamic pointing condition is satisfied or not. For the convenience of description and understanding, in the embodiments of the present application, only the pointing object obtained when the dynamic pointing condition is satisfied is involved. For example, when the mover module reaches a position point, if the conveying situation existing in the transportation scenario satisfies the dynamic pointing condition, the mover module can be controlled to move to the pointing object corresponding to the dynamic pointing condition. However, those skilled in the art should be able to analogously obtain embodiments of setting different pointing objects according to the judgment results of the dynamic pointing condition based on the content disclosed in the embodiments of the present application, and the present application does not make specific limitations on this.

[0116] Therefore, the transportation situation of different transportation scenarios can be combined to establish a dynamic pointing relationship between the position point and the pointing object under the dynamic pointing condition. The pointing object can be the next position point that the mover module is to reach. The dynamic pointing relationship can indicate pointing from the position point to the pointing object, and can instruct the linear motor device to move the mover module to the pointing object during the operation stage. Among them, the conveying situation existing in the transportation scenario can include the operation situation of the linear motor device, the operation situation of the operating device, and the operation situation of the interaction between the mover module and the operating device, etc.

[0117] It can be understood that in the dynamic pointing relationship, for the same position point, in some cases, it may be used as the starting entity in the dynamic pointing relationship to point to another pointing object, and in other cases, it may be used as the pointing object in the dynamic pointing relationship and be indicated by another position point. In addition, a position point can be used as the starting entity corresponding to one or more pointing objects, and can also be used as the pointing object corresponding to one or more starting entities. Among them, the pointing object is selected from multiple position points, and the pointing object can also be other position points or the position point itself. For example, if it is determined according to the conveying process information of the mover module that the mover module needs to stay at position point A for a period of time when it reaches position point A and the dynamic pointing condition is satisfied, then the pointing object corresponding to position point A under the dynamic pointing condition can be position point A itself, and the purpose of the mover module staying at position point A can be achieved.

[0118] Optionally, the conveying process information of the mover module can be determined according to the specific situation of the conveying scenario. There can be multiple nodes in the conveying process information, and the nodes can be used to represent the positions of material loading, conveying process, material handling, material unloading, etc. in the conveying process information. Since the position point is used to characterize the expected position of the mover at the corresponding node and can be used to match the dynamic pointing condition corresponding to the dynamic pointing relationship between multiple position points with the jump condition between multiple nodes in the conveying process information, each position point can correspond to a node in the conveying process information.

[0119] For example, please refer to Figure 3 , which provides an example schematic diagram of the correspondence between position points and nodes for the embodiments of the present application. In a conveying scenario, the mover module can pass through an operating device along the stator line. The conveying process information of the mover module can include: the mover module starts at a certain position around the operating device, and after normal startup, the mover module is controlled to move to face the operating device for interactive operation with the operating device. Node 11 can be set as the position where the mover module starts, and node 12 can be set as the position where the mover module moves to face the operating device. The condition for flowing from node 11 to node 12 in the conveying process information is the normal startup of the mover module. Therefore, according to the conveying process information of the mover module, position point 11 can be correspondingly set with node 11, that is, position point 11 can be the expected position when the mover module starts, and position point 12 can be correspondingly set with node 12, that is, position point 12 can be the position where the mover module faces the operating device. And a dynamic pointing relationship pointing from position point 11 to position point 12 is set, and the dynamic pointing condition corresponding to this dynamic pointing relationship is set as the normal startup of the mover module. Thus, during the operation stage, when the mover module starts normally at position point 11 and meets the dynamic pointing condition of position point 11, position point 11 can point to position point 12, that is, after meeting the dynamic pointing condition of the normal startup of the mover module, a dynamic pointing relationship pointing from position point 11 to position point 12 can be established. According to this dynamic pointing relationship, the normally started mover module can be controlled to move from position point 11 to position point 12, enabling the mover module to perform interactive operation with the operating device.

[0120] Optionally, based on the conveying process information of the mover module, shunt control and confluence control of the mover module can be achieved by configuring corresponding dynamic pointing information for position points in different stator line segments.

[0121] For example, please refer to Figure 4, This is an example schematic diagram for the shunt control of the mover module provided by the embodiments of the present application. The position points 21, 22, and 23 in the figure can be position points corresponding to the operating device respectively, and the position points 21, 22, and 23 are arranged along different stator segments. If the conveying process information indicates that the operating device needs to perform an interaction operation on the material carried by the mover module, the linear motor device can set different dynamic pointing information for the position point 21 according to the interaction operation situation between the mover module at the position point 21 and the operating device. For example, the linear motor device can configure a dynamic pointing condition 21-1 and a pointing object position point 22 corresponding to the dynamic pointing condition 21-1 for the position point 21, where the dynamic pointing condition 21-1 can be set as the mover module successfully completing the interaction operation with the operating device at the position point 21, and further, a dynamic pointing condition 21-2 and a pointing object position point 23 corresponding to the dynamic pointing condition 21-2 can be configured for the position point 21, where the dynamic pointing condition 21-2 can be set as the mover module not successfully completing the interaction operation with the operating device at the position point 21; when the mover module successfully completes the interaction operation with the operating device at the position point 21, the dynamic pointing condition 21-1 of the position point 21 is satisfied, and the position point 21 can point to the position point 22. According to this dynamic pointing relationship, the mover module can be controlled to move from the position point 21 to the position point 22; when the mover module does not successfully complete the interaction operation with the operating device at the position point 21, the dynamic pointing condition 21-2 of the position point 21 is satisfied, and the position point 21 can point to the position point 23. According to this dynamic pointing relationship, the mover module can be controlled to move from the position point 21 to the position point 23.

[0122] Thus, according to different dynamic pointing information, the purpose of controlling the mover module to move to different positions according to the actual situation of the interaction operation can be achieved during the operation stage, and the shunt control of the mover module can also be realized, so that the mover module moves to different stator segments of the stator line under different conditions.

[0123] It can be understood that the shunt control of the mover module can be realized, and the confluence control of the mover module can also be realized, so that the mover modules located in different segments of the stator line can be confluent. For example Figure 4 as shown, a dynamic pointing relationship pointing to the position point 21 can also be set for the position point 23, and a dynamic pointing relationship pointing to the position point 21 can be set for the position point 22. Thus, during the operation stage, for each mover module, it can move from the stator segment corresponding to the position point 23 or the position point 22 to the stator segment of the position point 21, and for multiple mover modules, they can sequentially move from the stator segments corresponding to the position point 23 or the position point 22 to the stator segment of the position point 21, thereby realizing the confluence control of the mover module.

[0124] In the embodiments of the present application, by configuring a dynamic pointing relationship and corresponding dynamic pointing conditions for position points, the position point pointing is dynamically adjusted in combination with the conveying situation during the operation stage to control the moving path of the mover module, and the shunting and merging control of the mover module can be realized, so that the moving path of the mover module is variable, further improving the flexibility of the mover module movement, and then improving the flexibility of the article conveying process. Also, by correspondingly setting the position points and the conveying process information nodes, the set dynamic process information can be made more in line with the conveying process information, improving the accuracy and success rate of the interactive operation between the mover module and the operating device, thereby further improving the transportation efficiency.

[0125] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0126] Configure corresponding attribute information for each position point, where the attribute information includes at least one of grade information and primary / alternate information.

[0127] Specifically, since there can be a hierarchical relationship and a primary / alternate relationship between position points, corresponding attribute information can be configured for each position point. The attribute information can include at least one of grade information and primary / alternate information. The grade information is used to represent the hierarchical relationship existing between position points, and the primary / alternate information is used to represent the primary / alternate relationship existing between position points.

[0128] Optionally, the attribute information can also include coordinate information and flag information. The linear motor device can establish a coordinate system based on the stator line body. The coordinate information is the coordinate of the position point in the coordinate system and can be used to represent the position of the position point relative to the stator line body. The flag information can be a flag or name set for the position point, etc. In addition to establishing a coordinate system based on the stator line body, the linear motor device can also establish a coordinate system according to the transportation scenario.

[0129] In the embodiments of the present application, by configuring corresponding attribute information for each position point, the grade information improves the search and management efficiency of position points and the adjustment efficiency of position points. The primary / alternate information can avoid the situation where the position of the position point is inaccurate when creating the position point, and it can also include coordinate information and flag information, which are convenient for describing the positions and relationships of each position point in the transportation scenario.

[0130] Please refer to Figure 5 , which is a flowchart of a configuration method of a linear motor device provided by an embodiment of the present application. As Figure 5 shown, the method of the embodiment of the present application is described based on the linear motor device. The step of configuring corresponding attribute information for each position point can include the following steps:

[0131] S201, configuring attribute information including first-level information for at least one location point to obtain a first-level location point.

[0132] Specifically, attribute information including first-level information may be configured for at least one location point, thereby obtaining a first-level location point, which is a location point whose attribute information includes first-level information.

[0133] S202: Taking the first-level location point as a reference, relatively configuring attribute information including second-level information for at least one location point to obtain a second-level location point.

[0134] Specifically, the first-level location point can be used as a reference, and attribute information including second-level information can be relatively configured for at least one location point to obtain a second-level location point. The second-level location point is a location point whose attribute information includes second-level information. The second-level location point is set based on the first-level location point, so the second-level location point is associated with the first-level location point. Each first-level location point can correspond to at least one second-level location point, and the use status of the second-level location point is linked to the use status of the first-level location point related to it. The use status may include one or more of deletion, establishment, activation and deactivation. For example, if the first-level location point is deleted, the second-level location point associated with the first-level location point can also be deleted in conjunction with it. If the first-level location point is deactivated, the second-level location point associated with the first-level location point can also be deactivated in conjunction with it.

[0135] It is understandable that there may be some location points with configured level information and some location points with unconfigured level information. Depending on the actual situation, there may be a dynamic pointing relationship between the location points with configured level information and the location points with unconfigured level information, there may also be a dynamic pointing relationship between multiple location points with configured level information, and there may also be a dynamic pointing relationship between multiple location points with unconfigured level information.

[0136] It can also be understood that, according to actual conditions, a dynamic pointing relationship may exist between multiple location points configured with the same level information, and a dynamic pointing relationship may also exist between multiple location points configured with different level information.

[0137] For example, see Figure 6, This is an example schematic diagram of the dynamic pointing relationship between position points of different levels provided by the embodiments of the present application. The first-level position point 31 and the first-level position point 32 are two different first-level position points. The second-level position points 31-1 and 31-2 are both second-level position points corresponding to the first-level position point 31. There can be a dynamic pointing relationship between the first-level position point and the second-level position point. For example, a dynamic pointing relationship from the first-level position point 31 to the second-level position point 31-1 can be set, or a dynamic pointing relationship from the second-level position point 31-2 to the first-level position point 32 can be set. There can also be a dynamic pointing relationship between the second-level position points. For example, a dynamic pointing relationship from the second-level position point 31-1 to the second-level position point 31-2 can be set.

[0138] Optionally, when setting the second-level position point, the first-level position point can be used as the reference position point, and the coordinate information of the second-level position point can be determined by determining the relative distance parameters between the second-level position point and the first-level position point. For example, if the coordinate information of the first-level position point is the absolute coordinate (x, y), and the relative distance parameters between the associated second-level position point and the first-level position point are Δx and Δy, then the coordinate information of the second-level position point can be the relative coordinate (x + Δx, y + Δy).

[0139] It can be understood that according to the conveying process information of the mover module, the mover module needs to move around the position point after reaching certain position points. For example, it needs to cooperate with the operating device to move, or needs to move a certain distance to avoid collision with other mover modules. The search and management efficiency of the position point can be improved by setting level information for the position point. For example, when the mover module reaches the first-level position point, the mover module can be controlled to move between the second-level position points associated with the first-level position point according to the dynamic pointing information of the first-level position point. In addition, when the position of the position point needs to be adjusted, after the coordinate of the first-level position point is adjusted, since the second-level position point is associated with the corresponding first-level position point, based on the level relationship and the coordinate of the adjusted first-level position point, the coordinate of the second-level position point will be adjusted accordingly, thereby improving the adjustment efficiency of the position point.

[0140] For example, referring to Figure 7 , This is an example schematic diagram of setting the level relationship between position points provided by the embodiments of the present application. The setting of the first-level position point and the second-level position point can cooperate with the operating device to complete the operation of the material loaded on the mover module. When the operating device moves in a direction perpendicular to the moving direction of the mover, and the mover module moves along the stator line, the mover module can cooperate with the operating device to complete the operation of the material loaded on the mover module and leave an operation device trace in a two-dimensional linear shape for the loaded material. It can be understood that, according to the moving speed of the mover module and the moving speed of the operating device, specifically, it can be an arc, a straight line, a broken line, etc. In this example, Figure 7 the operation device trace shown is an arc.

[0141] For example, the position point 41 can be a primary position point, and the position point 42 can be a secondary position point associated with the position point 41. If the conveying process information corresponding to the mover module requires the operating device to leave a two-dimensional linear trace of the operating device on the loaded material, and the operating device can only move perpendicular to the stator line, dynamic pointing information can be configured for the position point 41. The dynamic pointing information can be that when the mover module reaches the position point 41 and is loaded with material, it points from the position point 41 to the position point 42. Thus, in the operating stage, when the operating device moves perpendicular to the stator line, the mover module can move from the position point 41 to the position point 42 simultaneously, thereby leaving an arc-shaped trace of the operating device on the loaded material. If the coordinates of the position point 41 are adjusted according to the processing requirements, based on the hierarchical relationship and the adjusted coordinates of the position point 41, the coordinates of the position point 42 will be adjusted accordingly.

[0142] Optionally, in addition to the hierarchical information, the attribute information can also include primary / alternate information. Therefore, attribute information including primary selection information can be configured for at least one position point to obtain a primary selection position point, which is the position point whose attribute information includes primary selection information. Then, based on the primary selection position point, attribute information including candidate information is relatively configured for at least one position point to obtain candidate position points, which are the position points whose attribute information includes candidate information. Since the candidate position points are set based on the primary selection position point, the candidate position points are also associated with the primary selection position point. When setting multiple position points, it may not be possible to accurately set the coordinate information of each position point. Therefore, primary selection position points and candidate position points can be set. If the linear motor device or relevant staff determines that the candidate position points are more accurate than the primary selection position points in the subsequent process, the candidate position points can be used to replace the primary selection position points, and the primary selection position points can be deleted.

[0143] It can be understood that the attribute information of the position points can include at least one of hierarchical information and primary / alternate information. When the attribute information of the position points includes both hierarchical information and primary / alternate information, the position point may be one of the primary selection position points and the candidate position points. At the same time, the position point may be one of the primary position points and the secondary position points.

[0144] It can also be understood that there may be some position points with configured primary / alternate information and some position points without configured primary / alternate information. According to the actual situation, there may be a dynamic pointing relationship between the position points with configured primary / alternate information and the position points without configured primary / alternate information. There may also be a dynamic pointing relationship between multiple position points with configured primary / alternate information, and there may also be a dynamic pointing relationship between multiple position points without configured primary / alternate information. Moreover, according to the actual situation, there may be a dynamic pointing relationship between multiple position points with the same primary / alternate information, and there may also be a dynamic pointing relationship between multiple position points with different primary / alternate information.

[0145] For example, referring to Figure 8 , a schematic diagram of an example of the dynamic pointing relationship between position points of different attribute information is provided for the embodiments of the present application. The primary selection point 51 at the first level can be the position point where the first-level information and the primary selection information exist in the attribute information. The candidate point 52 at the first level can be the position point where the first-level information and the candidate information exist in the attribute information. The secondary primary selection points 51-1 and 51-2 can be two different position points where the second-level information and the primary selection information exist in the attribute information. The secondary candidate points 52-1 and 52-2 can be two different position points where the second-level information and the candidate information exist in the attribute information. Since there can also be a dynamic pointing relationship between position points with different levels of information and different primary / alternate information, a dynamic pointing relationship from the primary selection point 51 at the first level to the secondary primary selection point 51-1, a dynamic pointing relationship from the secondary primary selection point 51-1 to the secondary primary selection point 51-2 can be set. A dynamic pointing relationship from the candidate point 52 at the first level to the secondary candidate point 52-1, a dynamic pointing relationship from the secondary candidate point 52-1 to the secondary candidate point 52-2 can also be set. A dynamic pointing relationship from the secondary primary selection point 51-2 to the candidate point 52 at the first level can also be set.

[0146] In the embodiments of the present application, by configuring corresponding attribute information for each position point, the attribute information can include level information, primary / alternate information, coordinate information, and flag information, which is convenient for describing the positions and relationships of each position point. Among them, the level information improves the search and management efficiency of the position points, enhances the adjustment efficiency of the position points, and can also facilitate the interaction operation between the operating device and the mover module. The primary / alternate information can avoid the situation where the position of the position point is inaccurate when creating the position point, and a dynamic adjustment relationship can also be set between position points with different attribute information, ensuring the flexibility of the mover module movement, and thus improving the flexibility of the article conveying process.

[0147] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0148] In response to a position point modification instruction, modify the position point indicated by the position point modification instruction. Among them, at least one of the attribute information, dynamic pointing information, and usage status of the position point indicated by the position point modification instruction can be modified.

[0149] Specifically, a corresponding position point modification instruction can be generated based on the input operation of relevant staff. The position point modification instruction can be used to modify the position point. The position point modification instruction may include the flag information of the indicated position point and the modification operation information. The indicated position point is determined based on the flag information in the position point modification instruction, and the indicated position point is modified based on the modification operation information. The modification operation information is used to indicate the type of modification operation specifically performed on the position point. For example, the modification operation information is used to indicate to perform one or more of the following modification operations on the position point: creation modification operation, deletion modification operation, pointing modification operation, level modification operation, primary / alternate modification operation, deactivation modification operation, and activation modification operation. In other words, the position point modification instruction can modify one or more of the coordinate information, identification information, level information, primary / alternate information, dynamic pointing information, and usage status of the position point.

[0150] Optionally, when modifying at least one of the attribute information, dynamic pointing information, and usage status of the position point indicated by the position point modification instruction in response to the position point modification instruction, it further includes: when performing at least one of the deletion modification operation, level modification operation, and primary / alternate modification operation on the indicated position point based on the position point modification instruction, changing at least one of the attribute information, dynamic pointing information, and usage status of the relevant position point.

[0151] Optionally, if the modification operation information in the position point modification instruction is used to indicate to perform a deletion modification operation on a first-level position point, that is, to delete the first-level position point indicated by the flag information in the position point modification instruction, then, since the usage status of the first-level position point is linked to the usage status of its corresponding second-level position point, when performing the deletion operation on the first-level position point, a deletion operation will also be performed on the corresponding second-level position point of the first-level position point.

[0152] Optionally, when performing a deletion modification operation on an indicated position point based on a position point modification instruction, the dynamic pointing relationship of the relevant position points of the position point to be deleted can also be automatically modified according to the deletion modification strategy, where the deletion modification strategy can be preset according to prior experience or actual requirements. For example, if the position point targeted by the attribute modification information is position point 71 and the modification operation information includes deletion operation information, position points 72 and 73 that have a dynamic pointing relationship with position point 71 can be obtained, where position point 73 points to position point 71 and position point 71 points to position point 72. After deleting position point 71, according to the deletion modification strategy, the dynamic pointing relationship between position points 73 and 72 can be changed, that is, the dynamic pointing relationship from position point 71 to position point 73 is changed to the dynamic pointing relationship between position point 73 and position point 72, where position point 73 points to position point 72, so as to automatically modify the dynamic pointing relationship of the relevant position points after deleting the position point, avoid the discontinuity of the dynamic pointing relationship caused by the deletion of the position point, and ensure the normal operation of the mover module in the transportation scenario.

[0153] Optionally, if the modification operation information in the position point modification instruction is used to indicate a level modification operation on a secondary position point, that is, the secondary position point indicated by the flag information in the position point modification instruction is modified to a primary position point. Since the coordinate information of the secondary position point can be the relative coordinate set relative to the primary position point, when performing a level modification operation on the secondary position point, it is necessary to convert the relative coordinate of the secondary position point into an absolute coordinate, and use the converted absolute coordinate as the coordinate information of the primary position point obtained after the level modification operation.

[0154] Correspondingly, when performing a level modification operation on the indicated secondary position point based on the position point modification instruction, the attribute information of other secondary position points that have a dynamic pointing relationship with the secondary position point can also be modified according to the level modification strategy. Specifically, the target secondary position point that needs to perform the level modification operation can be determined based on the attribute modification information, and the relevant secondary position points that have a dynamic pointing relationship with the target secondary position point can be obtained. Then, the target secondary position point after the level modification operation is determined as the primary position point corresponding to the relevant secondary position point, and the relative coordinates of the relevant secondary position points are calculated based on the absolute coordinates of the target secondary position point after the level modification operation. For example, if the position point targeted by the attribute modification information is the secondary position point 81 and the modification operation information is the level modification operation information, other secondary position points that have a dynamic pointing relationship with the secondary position point 81, such as the secondary position point 82 and the secondary position point 83, can also be obtained. Then, a level modification operation is performed on the secondary position point 81 to obtain the primary position point 81, and the primary position points corresponding to the secondary position point 82 and the secondary position point 83 are determined as the primary position point 81, and the relative coordinate information of the secondary position point 82 and the secondary position point 83 is determined according to the absolute coordinate information of the primary position point 81.

[0155] In the embodiments of the present application, through the position point modification instruction, the attribute information of the position point can be flexibly modified, and when performing at least one of the deletion modification operation, the level modification operation, and the main-substitute modification operation on the indicated position point based on the position point modification instruction, the dynamic pointing information of the relevant position points can be adjusted in combination with the attribute relationship and the pointing relationship between the indicated position point and the relevant position points, so as to avoid affecting the normal operation of the transportation scenario.

[0156] Please refer to Figure 9 , which is a schematic flowchart of a control method for a linear motor device provided by the embodiments of the present application. As Figure 9 shown, the method of the embodiments of the present application is described based on a linear motor device, and may include the following steps S301-S304.

[0157] S301, based on the position information of the mover module and the configuration information of multiple position points, determine the mover module and the position point with a position correspondence relationship to obtain the target mover module and the target position point.

[0158] Specifically, the position information of the mover module in the transportation scenario can be obtained. For example, since the conveying monitoring device can monitor the conveying situation in the transportation scenario, the position information of all mover modules in the transportation scenario can be obtained through the conveying monitoring device. In addition, the configuration information of multiple position points can be obtained. The configuration information includes the dynamic pointing information of each position point set during the configuration stage, and may also include the position of each position point in the transportation scenario.

[0159] Then, based on the position information of the mover module and the configuration information of multiple position points, the mover module and the position point with a position correspondence can be determined. The position point corresponding to the mover module can be the position point reached by the mover module. The target mover module and the target position point can be obtained from the mover module and the position point with a position correspondence. The target mover module can be a mover module that has reached a certain position point and requires the control device to control its movement, and the target position point is the position point corresponding to the target mover module.

[0160] S302. Obtain the conveying monitoring information related to the target mover module.

[0161] Specifically, the conveying monitoring information related to the target mover module can be obtained. The conveying monitoring information is monitored according to the conveying situation of the transportation scenario. For example, the conveying monitoring information can be obtained by the control device monitoring the target mover module in the transportation scenario through a conveying monitoring device. The conveying monitoring information can characterize the conveying situation of the transportation scenario related to the target mover module.

[0162] Optionally, the conveying monitoring information can include the operating conditions of the linear motor device, the operating conditions of the operating device, the operating conditions of the interactive operations between the mover module and the operating device, etc. of the transportation scenario. The conveying monitoring device can include various sensors such as image sensors, infrared sensors, magnetic sensors, and laser sensors. The conveying situation can be characterized by the status information detected by multiple conveying detection devices, or the conveying situation can be characterized by the status information detected by an independent conveying monitoring device.

[0163] S303. Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, determine the pointing object of the target position point.

[0164] Specifically, since different pointing objects can be determined for the target position point according to the conveying situation of different transportation scenarios in the dynamically configured pointing information for the target position point, the pointing object of the target position point can be determined based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point.

[0165] S304. Control the movement path of the mover module based on the pointing object of the target position point.

[0166] Specifically, the movement path of the mover module can be controlled based on the pointing object of the target position point. According to the position point specifically represented by the pointing object, the mover module can be controlled to reach the position point corresponding to the pointing object of the target position point.

[0167] In an embodiment of the present application, based on the position information of the mover module and the configuration information of multiple position points, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point, and the conveying monitoring information related to the target mover module is obtained, where the conveying monitoring information is monitored according to the conveying situation of the transportation scenario. Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, the pointing object of the target position point is determined, and based on the pointing object of the target position point, the moving path of the mover module is controlled. By determining the pointing object of the target position point corresponding to the mover module through the dynamic pointing information and the conveying monitoring information, the function of dynamically adjusting the position point pointing according to the conveying situation is realized. Since multiple position points are used to control the moving path of the mover module, dynamically adjusting the position point pointing can make the moving path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios.

[0168] In one or more embodiments of the present application, the determining the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point may include the following steps:

[0169] Judge whether the conveying monitoring information meets the dynamic pointing condition of the dynamic pointing information, and determine the pointing object of the target position point according to the judgment result, where the pointing object is selected from multiple position points.

[0170] Specifically, since the movement control of the position point is related to the conveying situation, the pointing object of the target position point can be determined from multiple position points by judging whether the conveying detection information meets the dynamic pointing condition in the dynamic pointing information of the target position point. Specifically, when determining the satisfied dynamic pointing condition based on the judgment result, the pointing object corresponding to the satisfied dynamic pointing condition can be determined as the pointing object of the target position point. Among them, the pointing object is selected from multiple position points. According to the actual situation, the pointing object can be other position points except the target position point among the multiple position points, or the target position point itself.

[0171] In an embodiment of the present application, by combining the conveying situation to judge whether the dynamic pointing condition is met, the position point pointing is dynamically adjusted to make the moving path of the mover module variable, improving the directivity of the dynamic adjustment, making the dynamic adjustment more in line with the actual conveying situation, and further improving the flexibility of the article conveying process.

[0172] In one or more embodiments of the present application, the configuration information of the position point further includes attribute information, and the attribute information includes at least one of grade information and main-replacement information.

[0173] Specifically, the obtained configuration information may further include attribute information, and the attribute information may include at least one of level information and primary / alternate information. The level information is used to represent the hierarchical relationship existing between position points, and the primary / alternate information is used to represent the primary / alternate relationship existing between position points.

[0174] Optionally, the attribute information may further include coordinate information and flag information. A coordinate system can be established based on the stator line body. The coordinate information is the coordinate of the position point within the coordinate system and can be used to represent the position of the position point relative to the stator line body. The flag information can be a flag or name set for the position point, etc. In addition to establishing a coordinate system based on the stator line body, a coordinate system can also be established according to the transportation scenario.

[0175] In the embodiments of the present application, by means of position points configured with different attribute information, the search and management efficiency of position points is improved, the adjustment efficiency of position points is enhanced, the situation where the position of a position point is inaccurate when creating a position point is avoided, and coordinate information and flag information can also be configured. The coordinate information and flag information facilitate accurately controlling the mover module to reach the position point.

[0176] In one or more embodiments of the present application, among the multiple position points, there are primary position points and secondary position points. The secondary position points are relatively configured based on the primary position points. Among them, the primary position points are position points whose attribute information includes first-level information, and the secondary position points are position points whose attribute information includes second-level information. The usage status of the secondary position points is linked to the usage status of the primary position points.

[0177] Specifically, among the multiple position points, there may be primary position points and secondary position points. The primary position points are those whose attribute information includes first-level information, and the secondary position points are those whose attribute information includes second-level information. The secondary position points are set based on the primary position points, so the secondary position points are associated with the primary position points. Each primary position point may correspond to at least one secondary position point, and the usage status of the secondary position points is linked to the usage status of the related primary position points. The usage status may include one or more of deletion, establishment, activation, and deactivation.

[0178] Optionally, among the multiple position points, there may be primary selection position points and candidate position points. The primary selection position points are those whose attribute information includes primary selection information, and the candidate position points are those whose attribute information includes candidate information. The candidate position points are set based on the primary selection position points, so the candidate position points are also associated with the primary selection position points.

[0179] In the embodiments of the present application, by configuring position points with different levels of information and primary / alternate information, the search and management efficiency of position points is further improved, the adjustment efficiency of position points is enhanced, the situation where the position of a position point is inaccurate when creating a position point is avoided, and coordinate information and flag information can also be configured. The coordinate information and flag information facilitate accurately controlling the mover module to reach the position point.

[0180] In one or more embodiments of the present application, the control method of the linear motor device further includes the following steps:

[0181] In response to a position point modification instruction, modify at least one of the attribute information, dynamic pointing information, and usage status of the position point indicated by the position point modification instruction.

[0182] Specifically, in addition to being able to modify the attribute information of a position point during the configuration stage, the attribute information of a position point can also be modified during the operation stage. A corresponding position point modification instruction is generated based on the input operation of relevant staff. The position point modification instruction can be used to modify a position point. The position point modification instruction can include the flag information of the indicated position point and modification operation information. The indicated position point is determined based on the flag information in the position point modification instruction, and the indicated position point is modified based on the modification operation information. The modification operation information is used to indicate the type of modification operation specifically performed on the position point. For specific details, reference can be made to the relevant description of the steps for modifying the position point indicated by the position point modification instruction in the above embodiments, which will not be elaborated here.

[0183] In the embodiments of the present application, based on a position point modification instruction, a position point can be flexibly modified. And when performing at least one of a deletion modification operation, a level modification operation, and a primary / alternate modification operation on the indicated position point based on the position point modification instruction, the dynamic pointing information of relevant position points can be adjusted in combination with the attribute relationship and pointing relationship between the indicated position point and relevant position points, so as to avoid affecting the normal operation of the transportation scenario.

[0184] It can be understood that the configuration method and / or control method provided by the embodiments of the present application can be executed by the electronic device included in the linear motor device. Thus, the algorithm integration degree is high, and the overall hardware architecture is relatively simple.

[0185] In practical applications, with the complication and diversification of transportation demands, the computing load of the linear motor device increases sharply, and the information processing efficiency decreases. Based on this, at least some steps can be executed by the host computer connected to the linear motor device. For example, at least some steps of the configuration method can be executed by the host computer, and / or, at least some steps of the control method can be executed by the host computer, thereby reducing the computing pressure of the linear motor device and improving the information processing efficiency.

[0186] For example, position points can be configured through a host computer or a linear motor device. In the case where the host computer stores the configuration information of the position points, the host computer can determine the pointing object of the target position point and generate a corresponding control instruction. The control instruction can include the relevant information of the target position point, which can be specifically determined according to whether the linear motor device stores the configuration information of the position points. After the linear motor device receives the control instruction, it controls the moving stroke of the target mover based on the indication of the control instruction. In the case where the linear motor device stores the configuration information of the position points, the linear motor device can determine the pointing object of the target position point and control the moving stroke of the target mover.

[0187] Furthermore, the electronic device of the linear motor device or the host computer can include multiple control modules. Some control modules are used to control the operating device (i.e., the operating device control module), and some control modules are used to control the stator line body (i.e., the stator control module). The operating device control module provides the relevant conditions of the operating device (such as the operating conditions of the operating device, the loading conditions of the operating device, the interaction conditions with the mover module, etc.), and the stator control module provides the relevant conditions of the linear motor (such as the operating conditions of the stator line body, the moving conditions of the mover module, etc.). Optionally, the electronic device of the linear motor device can also include a control module for controlling an independent conveying monitoring device to obtain more conveying monitoring information and improve the control accuracy of the mover module.

[0188] Please refer to Figure 10 , which is a schematic flowchart of a related method for a linear motor device provided by an embodiment of the present application. As Figure 10 shown, the method of the embodiment of the present application is described based on a host computer and a linear motor device, and can include the following steps S401 - S407.

[0189] S401, Create multiple position points.

[0190] Specifically, the host computer can create multiple position points according to the stator line body. The multiple position points are distributed along the stator line body. For the specific description, reference can be made to the relevant description of the step of creating multiple position points in the above embodiment, which will not be elaborated here.

[0191] S402, Based on the conveying process information of the mover module, configure corresponding dynamic pointing information for each position point.

[0192] Specifically, the host computer can obtain the conveying process information of the mover module. The conveying process information can be the conveying process required by the mover module in the current actual transportation scenario, which can be generated based on the input operation of the staff. The conveying process information can include processes such as material loading, conveying process, material processing, and material unloading required by the mover module. For specific details, refer to the relevant description of the step of configuring corresponding dynamic pointing information for each position point based on the conveying process information of the mover module in the above embodiments, which will not be elaborated here.

[0193] S403. Configuration information of multiple position points sent.

[0194] Specifically, the host computer sends the configured configuration information of multiple position points to the linear motor device. The linear motor device can receive the configuration information of multiple position points sent by the host computer. The configuration information can include the dynamic pointing information set by the host computer. The dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario, and can also include the positions of each position point in the transportation scenario.

[0195] S404. Based on the position information of the mover module and the configuration information of multiple position points, determine the mover module and position points with a position correspondence relationship to obtain the target mover module and the target position point.

[0196] Specifically, the linear motor device can obtain the position information of the mover module in the transportation scenario. For example, since the conveying monitoring device can monitor the conveying situation of the transportation scenario, it can determine the mover module and position points with a position correspondence relationship according to the position information of the mover module and the configuration information of multiple position points. For specific details, refer to the relevant description of the step of determining the mover module and position points with a position correspondence relationship based on the position information of the mover module and the configuration information of multiple position points to obtain the target mover module and the target position point in the above embodiments, which will not be elaborated here.

[0197] S405. Obtain the conveying monitoring information related to the target mover module.

[0198] Specifically, the linear motor device can obtain the conveying monitoring information related to the target mover module. The conveying monitoring information is obtained by monitoring the conveying situation of the transportation scenario. For specific details, refer to the relevant description of the step of obtaining the conveying monitoring information related to the target mover module in the above embodiments, which will not be elaborated here.

[0199] S406. Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, determine the pointing object of the target position point.

[0200] Specifically, since different pointing objects corresponding to the target position point can be determined according to the conveying conditions in different transportation scenarios in the dynamically pointing information configured for the target position point, the linear motor device can determine the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamically pointing information corresponding to the target position point.

[0201] S407. Control the movement path of the mover module based on the pointing object of the target position point.

[0202] Specifically, the linear motor device can control the movement path of the mover module based on the pointing object of the target position point. According to the position point specifically represented by the pointing object, the linear motor device can control the mover module to reach the position point corresponding to the pointing object of the target position point.

[0203] In the embodiment of the present application, the host computer creates multiple position points, configures corresponding dynamically pointing information for each position point based on the conveying process information of the mover module, and sends the configuration information of the multiple position points to the linear motor device. The linear motor device determines the mover module and the position point with a position correspondence relationship based on the position information of the mover module and the configuration information of the multiple position points, obtains the target mover module and the target position point, acquires the conveying monitoring information related to the target mover module, determines the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamically pointing information corresponding to the target position point, and controls the movement path of the mover module based on the pointing object of the target position point. By configuring dynamically pointing information for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position point is realized. Since multiple position points are used to control the movement path of the mover module, the movement path of the mover module is variable, the flexibility of the movement of the mover module is improved, and it is more adaptable to complex and changeable working scenarios, thereby improving the transportation efficiency. And by decoupling the steps, the operation pressure of the linear motor device is reduced, and the information processing efficiency and transportation efficiency are further improved.

[0204] Please refer to Figure 11 , which is a schematic flowchart of a related method of a linear motor device provided by an embodiment of the present application. As Figure 11 shown, the method in the embodiment of the present application is used to illustrate that the related method of the linear motor device further includes the following steps:

[0205] S601. Send a position point modification instruction.

[0206] Specifically, in addition to being able to modify the attribute information of the position point in the configuration stage, the attribute information of the position point can also be modified in the operation stage. The linear motor device receives the position point modification instruction generated by the host computer based on the input operation of the relevant staff.

[0207] S602. Modify at least one of the attribute information, dynamic pointing information, and usage status of the position point indicated by the position point modification instruction in response to the position point modification instruction.

[0208] Specifically, the linear motor device can determine the indicated position point based on the flag information in the position point modification instruction, and perform a modification operation on the indicated position point based on the modification operation information. The position point modification instruction can modify one or more of the coordinate information, identification information, level information, main / alternate information, dynamic pointing information, and usage status of the position point. For specific details, reference can be made to the relevant description of the steps for modifying the position point based on the position point modification instruction in the above embodiments, which will not be elaborated here.

[0209] In the embodiments of the present application, through the position point modification instruction, the attribute information of the position point can be flexibly modified. And when performing at least one of the delete modification operation, level modification operation, and main / alternate modification operation on the indicated position point based on the position point modification instruction, the dynamic pointing information of the relevant position points can be adjusted in combination with the attribute relationship and pointing relationship between the indicated position point and the relevant position points, so as to avoid affecting the normal operation of the transportation scenario.

[0210] It can be understood that the above embodiments only schematically describe the steps and communication interactions respectively performed by the host computer and the linear motor device. In the actual implementation process, the specific execution entity of the relevant method provided in the embodiments of the present application can be determined according to the actual situation, and the embodiments of the present application do not make specific limitations in this regard.

[0211] For the convenience of understanding and description, the following will respectively illustrate the specific steps that can be executed by the host computer or the linear motor device with reference to the accompanying drawings.

[0212] Please refer to Figure 12 , which is a schematic flowchart of a configuration method for a linear motor device provided by an embodiment of the present application. As Figure 12 shown, the method of the embodiment of the present application is described based on the host computer, and may include the following steps S701 - S702.

[0213] S701. Create multiple position points.

[0214] Specifically, the host computer can create multiple position points according to the stator line. The multiple position points are distributed along the stator line. The number and distribution of the position points are related to the operating device. The multiple position points can be used for the linear motor device to control the moving path of the mover module. In other words, the position points indicate the positions that the mover module is going to move to, thus guiding the movement of the mover module. It can be understood that the position points described in the embodiments of the present application are not physical position points set based on the stator line, but virtual position points set by the configuration device based on the application program and used to indicate and describe the positions that the mover module is going to move to on the stator line.

[0215] S702. Based on the conveying process information of the mover module, configure corresponding dynamic pointing information for each position point.

[0216] Specifically, the host computer can obtain the conveying process information of the mover module. The conveying process information can be the conveying process required by the mover module in the current actual transportation scenario, and it can be generated based on the input operation of the staff. The corresponding dynamic pointing information can be configured for each position point according to the conveying process information of the mover module. For specific details, reference can be made to the relevant description of the step of configuring the corresponding dynamic pointing information for each position point based on the conveying process information of the mover module in the above embodiments, which will not be elaborated here.

[0217] In the embodiments of the present application, the host computer creates multiple position points. Among them, the multiple position points are distributed along the stator line. The multiple position points are used to control the moving path of the mover module. Based on the conveying process information of the mover module, configure corresponding dynamic pointing information for each position point. Among them, the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario. By configuring the dynamic pointing information for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position point is realized. Since the multiple position points are used to control the moving path of the mover module, dynamically adjusting the pointing of the position point can make the moving path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process. Thereby, the transportation efficiency is improved, and it can better adapt to complex and changeable working scenarios. Moreover, through step decoupling, the computing loads of the host computer and the linear motor device are reduced, and the computing speed and transportation efficiency are further improved.

[0218] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0219] Send the configuration information of the position point to the linear motor device for the linear motor device to use. The configuration information includes: dynamic pointing information.

[0220] Specifically, after the host computer completes the position point configuration, it sends the configuration information of the position point containing the dynamic pointing information to the linear motor device for the linear motor device to use, which is convenient for effectively controlling the movement path of the mover module.

[0221] Optionally, in addition to the dynamic pointing information, the configuration information may further include the attribute information configured for the position point. The host computer may send the attribute information together with the dynamic pointing information as the configuration information to the linear motor device.

[0222] In the embodiment of the present application, sending the configuration information to the linear motor device realizes information sharing, which is convenient for collaborative control of the movement of the mover module with the linear motor device, improves the accuracy of the movement path of the mover module, and further improves the operation speed and transportation efficiency.

[0223] In one or more embodiments of the present application, for the conveying process information based on the mover module, configuring corresponding dynamic pointing information for each position point may include the following steps:

[0224] Based on the conveying process information of the mover module, configure dynamic pointing conditions and pointing objects corresponding to the dynamic pointing conditions for each position point, where the pointing objects are selected from multiple said position points.

[0225] Specifically, the host computer may obtain the conveying process information of the mover module, and based on the conveying process information of the mover module, configure dynamic pointing conditions and pointing objects corresponding to the dynamic pointing conditions for each position point. For the specific description, reference may be made to the relevant description of the step of configuring dynamic pointing conditions and pointing objects corresponding to the dynamic pointing conditions for each position point based on the conveying process information of the mover module in the above embodiments, which will not be elaborated here.

[0226] In the embodiment of the present application, by configuring dynamic pointing relationships and corresponding dynamic pointing conditions for position points, it is possible to dynamically adjust the position point pointing in combination with the conveying situation during the operation stage to control the movement path of the mover module, and it is also possible to realize the shunting and merging control of the mover module, making the movement path of the mover module variable, further improving the flexibility of the movement of the mover module, and then improving the flexibility of the article conveying process. It is also possible to make the set dynamic process information more in line with the conveying process information by correspondingly setting the position points and the nodes of the conveying process information, improving the accuracy and success rate of the interaction operation between the mover module and the operating device, and thus further improving the transportation efficiency.

[0227] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0228] Configure corresponding attribute information for each said position point, and the attribute information includes at least one of grade information and main / alternate information.

[0229] Specifically, the host computer can configure corresponding attribute information for each position point. The attribute information can include at least one of level information and primary / alternate information. The level information is used to represent the hierarchical relationship existing between position points, and the primary / alternate information is used to represent the primary / alternate relationship existing between position points. For specific details, reference can be made to the relevant description of the step of configuring corresponding attribute information for each position point in the above embodiments, which will not be elaborated here.

[0230] In the embodiments of the present application, by configuring corresponding attribute information for each position point, the level information improves the search and management efficiency of position points and enhances the adjustment efficiency of position points. The primary / alternate information can avoid the situation where the position of a position point is inaccurate when creating a position point, and can also include coordinate information and flag information, which are convenient for describing the positions and relationships of each position point.

[0231] Please refer to Figure 13 , which is a schematic flowchart of a configuration method for a linear motor device provided by the embodiments of the present application. As Figure 13 shown, the method of the embodiments of the present application is described based on the host computer. The step of configuring corresponding attribute information for each position point can include the following steps:

[0232] S801, configure attribute information including first-level information for at least one position point to obtain first-level position points.

[0233] Specifically, the host computer can configure attribute information including first-level information for at least one position point, thereby obtaining first-level position points. The first-level position points are the position points whose attribute information includes first-level information.

[0234] S802, taking the first-level position points as a reference, configure attribute information including second-level information for at least one position point relatively to obtain second-level position points.

[0235] Specifically, the host computer can take the first-level position points as a reference and configure attribute information including second-level information for at least one position point relatively to obtain second-level position points. The second-level position points are the position points whose attribute information includes second-level information. The second-level position points are set based on the first-level position points, so the second-level position points are associated with the first-level position points. Each first-level position point can correspond to at least one second-level position point, and the usage status of the second-level position points is linked to the usage status of the relevant first-level position points. For specific details, reference can be made to the relevant description of the step of taking the first-level position points as a reference and configuring attribute information including second-level information for at least one position point relatively to obtain second-level position points in the above embodiments, which will not be elaborated here.

[0236] In the embodiments of the present application, by configuring corresponding attribute information for each position point, the attribute information may include level information, primary / alternate information, coordinate information, and flag information, which facilitates the description of the positions and relationships of each position point. Among them, the level information improves the search and management efficiency of the position points, enhances the adjustment efficiency of the position points, and also facilitates the interactive operation between the operating device and the mover module. The primary / alternate information can avoid the situation where the position of the position point is inaccurate when creating the position point, and dynamic adjustment relationships can also be set between the position points with different attribute information, ensuring the flexibility of the mover module movement and thus improving the flexibility of the article conveying process.

[0237] In one or more embodiments of the present application, the configuration method of the linear motor device may further include the following steps:

[0238] In response to a position point modification instruction, modify the attribute information of the position point indicated by the position point modification instruction.

[0239] Specifically, relevant staff can perform an input operation on the host computer. Based on the input operation of the relevant staff, the host computer can generate a corresponding position point modification instruction. The position point modification instruction can be used to modify the position point. Specifically, reference can be made to the relevant description of the steps for modifying the position point in the above embodiments, which will not be elaborated here.

[0240] In the embodiments of the present application, based on the position point modification instruction, the position point can be flexibly modified. And when performing at least one of the deletion modification operation, level modification operation, and primary / alternate modification operation on the indicated position point based on the position point modification instruction, the dynamic pointing information of the relevant position points can be adjusted in combination with the attribute relationship and pointing relationship between the indicated position point and the relevant position points, so as to avoid affecting the normal operation of the transportation scenario.

[0241] Please refer to Figure 14 , which is a schematic flow chart of a control method for a linear motor device provided by the embodiments of the present application. As Figure 14 shown, the method of the embodiments of the present application is described based on the linear motor device and may include the following steps S901 - S905.

[0242] S901, Receive the configuration information of multiple position points sent by the host computer.

[0243] Specifically, the linear motor device can receive the configuration information of multiple position points sent by the host computer. The configuration information may include the dynamic pointing information set by the host computer, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario. Optionally, the configuration information may further include the attribute information of each position point.

[0244] S902. Based on the position information of the mover module and the configuration information of multiple position points, determine the mover module and position point with a position correspondence relationship, and obtain the target mover module and the target position point.

[0245] Specifically, the linear motor device can obtain the position information of the mover module in the transportation scenario. For example, since the conveying monitoring device can monitor the conveying situation in the transportation scenario, based on the position information of the mover module and the configuration information of multiple position points, the mover module and position point with a position correspondence relationship can be determined. For the specific description of the steps of determining the mover module and position point with a position correspondence relationship based on the position information of the mover module and the configuration information of multiple position points and obtaining the target mover module and the target position point, please refer to the relevant description in the above embodiments, which will not be elaborated here.

[0246] S903. Obtain the conveying monitoring information related to the target mover module.

[0247] Specifically, the linear motor device can obtain the conveying monitoring information related to the target mover module. The conveying monitoring information is obtained by monitoring the conveying situation in the transportation scenario. For the specific description of the steps of obtaining the conveying monitoring information related to the target mover module, please refer to the relevant description in the above embodiments, which will not be elaborated here.

[0248] S904. Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, determine the pointing object of the target position point.

[0249] Specifically, among the dynamic pointing information configured by the host computer for the target position point, different conveying situations in the transportation scenario can correspond to different pointing objects. Therefore, the linear motor device can determine the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point.

[0250] S905. Control the moving path of the mover module based on the pointing object of the target position point.

[0251] Specifically, the linear motor device can control the moving path of the mover module based on the pointing object of the target position point. According to the position point specifically represented by the pointing object, the linear motor device can control the mover module to move from the target position point to the position point corresponding to the pointing object.

[0252] In the embodiments of the present application, the configuration information of multiple position points sent by the host computer is received. Based on the position information of the mover module and the configuration information of the multiple position points, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point. The conveying monitoring information related to the target mover module is obtained. Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, the pointing object of the target position point is determined. Based on the pointing object of the target position point, the movement path of the mover module is controlled. By determining the pointing object of the target position point corresponding to the mover module through the dynamic pointing information and the conveying monitoring information, the function of dynamically adjusting the pointing of the position point according to the conveying situation is realized. Since the multiple position points are used to control the movement path of the mover module, dynamically adjusting the pointing of the position point can make the movement path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency, being more adaptable to complex and changeable working scenarios, and reducing the computing pressure of the linear motor device through step decoupling, further improving the information processing efficiency and transportation efficiency.

[0253] In one or more embodiments of the present application, the obtaining the conveying monitoring information related to the target mover module may include the following steps:

[0254] In the received conveying monitoring information, the conveying monitoring information related to the target mover module is determined. The conveying monitoring information is sent by a conveying monitoring device or the host computer.

[0255] Specifically, the linear motor device receives the conveying detection information and determines the conveying monitoring information related to the target mover module in the received conveying detection information. The conveying monitoring information is monitored according to the conveying situation of the transportation scenario. For example, the conveying monitoring information can be obtained by the conveying monitoring device monitoring the target sub-module in the transportation scenario, and may include the conveying situation of the transportation scenario related to the target mover module. The conveying monitoring information is sent from the conveying monitoring device to the linear motor device, or sent from the conveying detection device to the host computer and then sent from the host computer to the linear motor device.

[0256] In the embodiments of the present application, extracting the required conveying monitoring information related to the target mover module from all the conveying situations of the conveying scenario improves the pertinence of the use of the conveying monitoring information, thereby improving the accuracy of controlling a single mover module.

[0257] Before determining the mover module and the position point with a position correspondence relationship based on the position information of the mover module and the configuration information of the multiple position points to obtain the target mover module and the target position point in one or more embodiments of the present application, the following steps may further be included:

[0258] Receive the attribute information of each position point sent by the host computer, where the attribute information includes at least one of the following: level information and primary / alternate information.

[0259] Specifically, the control device can also receive the attribute information of each position point sent by the host computer. The attribute information can also include configuration information. Among them, the attribute information includes at least one of the following: level information and primary / alternate information. The level information is used to represent the hierarchical relationship existing between position points, and the primary / alternate information is used to represent the primary / alternate relationship existing between position points.

[0260] Optionally, the attribute information can also include coordinate information and flag information. The host computer can establish a coordinate system based on the stator line. The coordinate information is the coordinate of the position point within the coordinate system and can be used to represent the position of the position point relative to the stator line. The flag information can be a flag or name set for the position point, etc. In addition to establishing a coordinate system based on the stator line, the host computer can also establish a coordinate system according to the transportation scenario.

[0261] In the embodiments of the present application, by means of position points configured with different attribute information, the search and management efficiency of position points is improved, the adjustment efficiency of position points is enhanced, the situation where the position of a position point is inaccurate when creating a position point is avoided, and coordinate information and flag information can also be configured. The coordinate information and flag information facilitate accurately controlling the mover module to reach the position point.

[0262] In one or more embodiments of the present application, among the multiple position points, there are first-level position points and second-level position points. The second-level position points are relatively configured based on the first-level position points. Among them, the first-level position points are position points whose attribute information includes first-level information, and the second-level position points are position points whose attribute information includes second-level information. The usage status of the second-level position points is linked to the usage status of the first-level position points.

[0263] Specifically, among the multiple position points, there can be first-level position points and second-level position points. The first-level position points are the position points whose attribute information includes first-level information, and the second-level position points are the position points whose attribute information includes second-level information. The second-level position points are set based on the first-level position points, so the second-level position points are associated with the first-level position points. Each first-level position point can correspond to at least one second-level position point, and the usage status of the second-level position points is linked to the usage status of the related first-level position points. The usage status can include one or more of deletion, establishment, enabling, and disabling.

[0264] Optionally, among the multiple position points, there can be primary selection position points and candidate position points. The primary selection position points are the position points whose attribute information includes primary selection information, and the candidate position points are the position points whose attribute information includes candidate information. The candidate position points are set based on the primary selection position points, so the candidate position points are also associated with the primary selection position points.

[0265] In the embodiment of the present application, by configuring position points with different levels of information and primary / alternate information, the search and management efficiency of the position points is further improved, the adjustment efficiency of the position points is enhanced, the situation where the position of the position point is inaccurate when creating the position point is avoided, and coordinate information and flag information can also be configured. The coordinate information and flag information facilitate accurately controlling the mover module to reach the position point.

[0266] Please refer to Figure 15 , which is a schematic flowchart of a control method for a linear motor device provided by an embodiment of the present application. As Figure 15 shown, the method of the embodiment of the present application is described based on a linear motor device. The control method of the linear motor device further includes the following steps:

[0267] S1001, receiving a position point modification instruction sent by a host computer.

[0268] Specifically, during the operation stage, the attribute information of the position point can also be modified. Relevant staff can perform input operations on the host computer, and based on the input operations of the relevant staff, the host computer generates a position point modification instruction and sends it to the linear motor device.

[0269] S1002, in response to the position point modification instruction, modifying at least one of the attribute information, dynamic pointing information, and usage status of the position point indicated by the position point modification instruction.

[0270] Specifically, the linear motor device can determine the indicated position point based on the flag information in the position point modification instruction, and perform a modification operation on the indicated position point based on the modification operation information. The position point modification instruction can modify the coordinate information, identification information, level information, primary / alternate information, dynamic pointing information, and usage status of the position point. For specific details, reference can be made to the relevant description of the steps for modifying the position point based on the position point modification instruction in the above embodiment, which will not be elaborated here.

[0271] In the embodiment of the present application, through the position point modification instruction, the attribute information of the position point can be flexibly modified, and when performing at least one of the deletion modification operation, level modification operation, and primary / alternate modification operation on the indicated position point based on the position point modification instruction, the dynamic pointing information of the relevant position points can be adjusted in combination with the attribute relationship and pointing relationship between the indicated position point and the relevant position points, so as to avoid affecting the normal operation of the transportation scenario.

[0272] In one or more embodiments of the present application, determining the pointing object of the target position point based on the transportation monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point may include the following steps:

[0273] Determine whether the conveying monitoring information meets the dynamic pointing conditions of the dynamic pointing information, and determine the pointing object of the target position point according to the judgment result, where the pointing object is selected from multiple position points.

[0274] Specifically, since the movement control of the position points is related to the conveying situation, it is possible to determine the pointing object of the target position point from multiple position points by judging whether the conveying detection information meets the dynamic pointing conditions in the dynamic pointing information of the target position point. Specifically, based on the judgment result to determine the satisfied dynamic pointing conditions, the pointing object corresponding to the satisfied dynamic pointing conditions can be determined as the pointing object of the target position point. Among them, the pointing object is selected from multiple position points. According to the actual situation, the pointing object can be other position points except the target position point among multiple position points, or the target position point itself.

[0275] In the embodiment of the present application, by combining the conveying situation to judge whether the dynamic pointing conditions are met, the position point pointing is dynamically adjusted, so that the movement path of the mover module is variable, the directivity of the dynamic adjustment is improved, the dynamic adjustment is more in line with the actual conveying situation, and thus the flexibility of the article conveying process is improved.

[0276] Please refer to Figure 16 , which provides a schematic flowchart of a control method for a linear motor device in the embodiment of the present application. As Figure 16 shown, the method in the embodiment of the present application is described based on the host computer and the linear motor device, and may include the following steps S1101-S1107.

[0277] S1101, based on the position information of the mover module and the configuration information of multiple position points, determine the mover module and the position point with a position correspondence relationship to obtain the target mover module and the target position point.

[0278] Specifically, the host computer can obtain the position information of the mover module in the transportation scenario. For example, since the conveying monitoring device can monitor the conveying situation of the transportation scenario, the position information of all mover modules in the transportation scenario can be obtained through the conveying monitoring device, and the configuration information of multiple position points can also be obtained. The configuration information includes the dynamic pointing information of each position point set in the configuration stage, and can also include the position of each position point in the transportation scenario.

[0279] Then, according to the position information of the mover module and the configuration information of multiple position points, the mover module and the position points with a position correspondence can be determined. The position points corresponding to the mover module can be the position points reached by the mover module. The target mover module and the target position point can be obtained from the mover module and the position points with a position correspondence. The target mover module can be a mover module that has reached a certain position point and requires the control device to control its movement, and the target position point is the position point corresponding to the target mover module.

[0280] S1102, obtain the conveying monitoring information related to the target mover module.

[0281] Specifically, the host computer can obtain the conveying monitoring information related to the target mover module. The conveying monitoring information is monitored according to the conveying situation of the transportation scenario. For specific details, refer to the relevant description of the step of obtaining the conveying monitoring information related to the target mover module in the above embodiments, which will not be elaborated here.

[0282] S1103, based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, determine the pointing object of the target position point.

[0283] Specifically, since different pointing objects can be determined for the target position point according to the conveying situation of different transportation scenarios in the dynamically configured pointing information for the target position point, the host computer can determine the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point.

[0284] S1104, generate a control instruction based on the pointing object of the target position point.

[0285] Specifically, the host computer can generate a control instruction based on the pointing object of the target position point. The control instruction is used to instruct the linear motor device to control the movement path of the mover module based on the pointing object to move the mover module to the pointing object.

[0286] S1105, send the control instruction.

[0287] Specifically, the host computer sends the generated control instruction to the linear motor device to facilitate controlling the linear motor device to move the mover module.

[0288] S1106, based on the control instruction, determine the target position point and the pointing object of the target position point.

[0289] Specifically, after receiving the control instruction sent by the host computer, the linear motor device can determine the target position point and the pointing object of the target position point according to the control instruction. Among them, the target position point is a position point obtained based on the position information of the mover module and the configuration information of multiple position points, and there is a position correspondence relationship with the mover module. The multiple position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario.

[0290] Optionally, if the attribute information of each position point is not stored in the linear motor device, the control instruction can include the coordinate information of the target position point and the coordinate information of the pointing object of the target position point, which is convenient for the linear motor device to control the movement of the mover module. On the contrary, if the attribute information of each position point is stored in the linear motor device, the control instruction can only include the flag information of the target position point and the flag information of the pointing object of the target position point, so as to reduce the length of the control instruction and improve the communication efficiency. The linear motor device can determine the target position point and the pointing object of the target position point based on the flag information.

[0291] S1107, control the movement path of the target mover module corresponding to the target position point based on the target position point, the pointing object of the target position point, and the position information of the mover module.

[0292] Specifically, the movement path of the mover module can be controlled based on the pointing object of the target position point, and the mover module can be controlled to move from the target position point to the position point corresponding to the pointing object. The target mover module is the mover module that has a position correspondence relationship with the target position point.

[0293] In the embodiment of the present application, based on the position information of the mover module and the configuration information of multiple position points, the mover module and the position points with a position correspondence relationship are determined to obtain the target mover module and the target position point. The conveying monitoring information related to the target mover module is obtained. Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, the pointing object of the target position point is determined. A control instruction is generated based on the pointing object of the target position point and sent to the linear motor device. The linear motor device determines the target position point and the pointing object of the target position point based on the control instruction. Based on the target position point, the pointing object of the target position point, and the position information of the mover module, the movement path of the target mover module corresponding to the target position point is controlled. By using the conveying process information of the mover module to configure the dynamic pointing information for each position point, the function of dynamically adjusting the pointing of the position point is realized. Since multiple position points are used to control the movement path of the mover module, the movement path of the mover module is variable, the flexibility of the mover module movement is improved, and it is more adaptable to complex and changeable working scenarios, thereby improving the transportation efficiency. And by decoupling the steps, the computing pressure of the linear motor device is reduced, and the information processing efficiency and transportation efficiency are further improved.

[0294] It can be understood that the above embodiments only schematically describe the steps and communication interactions respectively executed by the host computer and the linear motor device. In the actual implementation process, the specific execution entity of the related method provided by the embodiments of the present application can be determined according to the actual situation, and the embodiments of the present application do not make specific limitations on this.

[0295] For the convenience of understanding and description, the following will respectively illustrate the specific steps that can be executed by the host computer or the linear motor device in conjunction with the accompanying drawings.

[0296] Please also refer to Figure 17 , which is a schematic flowchart of a control method for a linear motor device provided by an embodiment of the present application. As Figure 17 shown, the method of the embodiment of the present application is described based on the host computer and may include the following steps S1201 - S1204.

[0297] S1201, based on the position information of the mover module and the configuration information of multiple position points, determine the mover module and the position points with a position correspondence relationship to obtain the target mover module and the target position point.

[0298] Specifically, the host computer can obtain the position information of the mover module in the transportation scenario. For example, since the conveying monitoring device can monitor the conveying situation in the transportation scenario, the position information of all mover modules in the transportation scenario can be obtained through the conveying monitoring device. Moreover, the configuration information of multiple position points can also be obtained. The configuration information includes the dynamic pointing information of each position point set during the configuration stage, and can also include the positions of each position point in the transportation scenario. Then, based on the position information of the mover module and the configuration information of multiple position points, the mover module and the position point with a position correspondence relationship can be determined. The position point corresponding to the mover module can be the position point closest to the mover module. The target mover module and the target position point can be obtained from the mover module and the position point with a position correspondence relationship. The target mover module can be any mover module, and the target position point is the position point corresponding to the target mover module.

[0299] S1202. Obtain the conveying monitoring information related to the target mover module.

[0300] Specifically, the host computer can obtain the conveying monitoring information related to the target mover module. The conveying monitoring information is obtained based on the conveying situation in the transportation scenario. For example, the conveying monitoring information can be obtained by the host computer monitoring the target sub-module in the transportation scenario through the conveying monitoring device, and can include the conveying situation in the transportation scenario related to the target mover module.

[0301] S1203. Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, determine the pointing object of the target position point.

[0302] Specifically, in the dynamically configured pointing information for the target position point, different conveying situations in the transportation scenario can correspond to different pointing objects. The host computer can determine the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point.

[0303] S1204. Generate a control instruction based on the pointing object of the target position point, and send the control instruction to the linear motor device to control the moving path of the mover module.

[0304] Specifically, the host computer can generate a control instruction based on the pointing object of the target position point, and send the generated control instruction to the linear motor device. The control instruction is used to instruct the linear motor device to control the moving path of the mover module based on the pointing object, so as to move the mover module to the pointing object, thereby realizing the control of the moving path of the mover module.

[0305] In the embodiments of the present application, based on the position information of the mover module and the configuration information of multiple position points, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point. The transportation monitoring information related to the target mover module is obtained, where the transportation monitoring information is monitored according to the transportation situation of the transportation scenario. Based on the transportation monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, the pointing object of the target position point is determined. Based on the pointing object of the target position point, the moving path of the mover module is controlled. A control instruction is generated based on the pointing object of the target position point and sent to the linear motor device to control the moving path of the mover module. By determining the pointing object of the target position point corresponding to the mover module through the dynamic pointing information and the transportation monitoring information, the function of dynamically adjusting the position point pointing according to the transportation situation is realized. Since multiple position points are used to control the moving path of the mover module, the moving path of the mover module is variable, the flexibility of the mover module movement is improved, and it is more adaptable to complex and changeable working scenarios, thereby improving the transportation efficiency. And by decoupling the steps, the computing pressure of the linear motor device is reduced, and the information processing efficiency and transportation efficiency are further improved.

[0306] In one or more embodiments of the present application, the obtaining of the transportation monitoring information related to the target mover module may include the following steps:

[0307] Among the received transportation monitoring information, the transportation monitoring information related to the target mover module is determined. The transportation monitoring information is sent by a transportation monitoring device or a linear motor device.

[0308] Specifically, the host computer receives the transportation detection information and determines the transportation monitoring information related to the target mover module among the received transportation detection information. The transportation monitoring information is monitored according to the transportation situation of the transportation scenario. For example, the transportation monitoring information can be obtained by the transportation monitoring device monitoring the target sub-module in the transportation scenario, and may include the transportation situation of the transportation scenario related to the target mover module. The transportation monitoring information is sent from the transportation monitoring device to the host computer, or sent from the transportation detection device to the linear motor device and then sent from the linear motor device to the host computer.

[0309] In the embodiments of the present application, extracting the required transportation monitoring information related to the target mover module from all the transportation situations of the transportation scenario improves the pertinence of the use of the transportation monitoring information, thereby improving the accuracy of controlling a single mover module.

[0310] In one or more embodiments of the present application, the determining of the pointing object of the target position point based on the transportation monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point includes the following steps:

[0311] Determine whether the conveying monitoring information meets the dynamic pointing conditions of the dynamic pointing information, and determine the pointing object of the target position point according to the judgment result, where the pointing object is selected from multiple position points.

[0312] Specifically, since the movement control of the position point is related to the conveying situation, the host computer can determine the pointing object of the target position point from multiple position points by judging whether the conveying detection information meets the dynamic pointing conditions in the dynamic pointing information of the target position point. Specifically, when determining the satisfied dynamic pointing conditions based on the judgment result, the pointing object corresponding to the satisfied dynamic pointing conditions can be determined as the pointing object of the target position point. Among them, the pointing object is selected from multiple position points. According to the actual situation, the pointing object can be other position points except the target position point among the multiple position points, or the target position point itself.

[0313] In the embodiment of the present application, by combining the conveying situation to judge whether the dynamic pointing conditions are met, the position point pointing is dynamically adjusted, so that the movement path of the mover module is variable, the directivity of the dynamic adjustment is improved, the dynamic adjustment is made more in line with the actual conveying situation, and thus the flexibility of the article conveying process is improved.

[0314] In one or more embodiments of the present application, the configuration information of the position point further includes attribute information, and the attribute information includes at least one of level information and main-substitute information.

[0315] Specifically, the obtained configuration information may further include attribute information, and the attribute information may include at least one of level information and main-substitute information. The level information is used to represent the level relationship existing between position points, and the main-substitute information is used to represent the main-substitute relationship existing between position points.

[0316] Optionally, the attribute information may further include coordinate information and flag information. A coordinate system can be established based on the stator line body. The coordinate information is the coordinate of the position point in the coordinate system and can be used to represent the position of the position point relative to the stator line body. The flag information can be a flag or name set for the position point, etc. In addition to establishing a coordinate system based on the stator line body, a coordinate system can also be established according to the transportation scenario.

[0317] In the embodiment of the present application, by configuring position points with different attribute information, the search and management efficiency of position points is improved, the adjustment efficiency of position points is enhanced, the situation where the position of the position point is inaccurate when creating the position point is avoided, and coordinate information and flag information can also be configured. The coordinate information and flag information facilitate accurately controlling the mover module to reach the position point.

[0318] In one or more embodiments of the present application, among multiple position points, there are primary position points and secondary position points. The secondary position points are relatively configured based on the primary position points. Among them, the primary position points are position points whose attribute information includes first-level information, and the secondary position points are position points whose attribute information includes second-level information. The usage status of the secondary position points is linked to the usage status of the primary position points.

[0319] Specifically, among multiple position points, there may be primary position points and secondary position points. The primary position points are the position points whose attribute information includes first-level information, and the secondary position points are the position points whose attribute information includes second-level information. The secondary position points are set based on the primary position points, so the secondary position points are associated with the primary position points. Each primary position point may correspond to at least one secondary position point, and the usage status of the secondary position points is linked to the usage status of the relevant primary position points. The usage status may include one or more of deletion, establishment, enabling, and disabling.

[0320] Optionally, among multiple position points, there may be primary selection position points and candidate position points. The primary selection position points are the position points whose attribute information includes primary selection information, and the candidate position points are the position points whose attribute information includes candidate information. The candidate position points are set based on the primary selection position points, so the candidate position points are also associated with the primary selection position points.

[0321] In the embodiments of the present application, by configuring position points with different levels of information and primary / alternate information, the search and management efficiency of the position points is further improved, the adjustment efficiency of the position points is enhanced, the situation where the position of the position point is inaccurate when creating the position point is avoided, and coordinate information and flag information may also be configured. The coordinate information and flag information facilitate accurately controlling the mover module to reach the position point.

[0322] In one or more embodiments of the present application, the control method of the linear motor device further includes the following steps:

[0323] Generate a position point modification instruction, and send the position point modification instruction to the linear motor device. The position point modification instruction is used to modify at least one of the attribute information, dynamic pointing information, and usage status of the indicated position point.

[0324] Specifically, the host computer can generate a position point modification instruction during the operation phase and then send the position point modification instruction to the linear motor device to enable the linear motor device to modify the indicated position point. For the specific modification steps of the position point indicated by the position point modification instruction, reference can be made to the relevant descriptions in the above embodiments, which will not be elaborated here.

[0325] In the embodiments of the present application, by modifying the instruction based on the position point, the position point can be flexibly modified. And when performing at least one of the deletion modification operation, the level modification operation, and the main-substitute modification operation on the indicated position point based on the position point modification instruction, the dynamic pointing information of the related position point can be adjusted in combination with the attribute relationship and the pointing relationship between the indicated position point and the related position point, so as to avoid affecting the normal operation of the transportation scenario.

[0326] Please refer to Figure 18 together, which is a schematic flowchart of a control method for a linear motor device provided by the embodiments of the present application. As Figure 18 shown, the method of the embodiments of the present application is described based on the linear motor device, and may include the following steps S1301-S1303.

[0327] S1301, Receive the control instruction sent by the host computer.

[0328] Specifically, the linear motor device can receive the control instruction sent by the host computer, and the control execution is obtained by the host computer based on the dynamic pointing information and the conveying monitoring information of the transportation scenario.

[0329] S1302, Based on the control instruction, determine the target position point and the pointing object of the target position point.

[0330] Specifically, the linear motor device can determine the target position point and the pointing object of the target position point according to the control instruction. Among them, the target position point is a position point obtained based on the position information of the mover module and the configuration information of multiple position points, and has a position corresponding relationship with the mover module. The multiple position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario.

[0331] Optionally, if the attribute information of each position point is not stored in the linear motor device, the control instruction may include the coordinate information of the target position point and the coordinate information of the pointing object of the target position point, which is convenient for the linear motor device to control the movement of the mover module. On the contrary, if the attribute information of each position point is stored in the linear motor device, the control instruction may only include the flag information of the target position point and the flag information of the pointing object of the target position point, so as to reduce the length of the control instruction and improve the communication efficiency. The linear motor device can determine the target position point and the pointing object of the target position point based on the flag information.

[0332] S1303, Based on the pointing object of the target position point, control the movement path of the target mover module corresponding to the target position point.

[0333] Specifically, the linear motor device can control the moving path of the mover module based on the pointing object of the target position point, and can control the mover module to move from the target position point to the position point corresponding to the pointing object. The target mover module is the mover module having a position correspondence with the target position point.

[0334] In the embodiment of the present application, a control instruction sent by the host computer is received. Based on the control instruction, the target position point and the pointing object of the target position point are determined. Based on the pointing object of the target position point, the moving path of the target mover module corresponding to the target position point is controlled. The pointing object of the target position point corresponding to the mover module is determined according to the control instruction of the host computer, so as to realize the function of dynamically adjusting the position point pointing according to the conveying situation, and the operation load of the host computer and the linear motor device is reduced by step decoupling, further improving the operation speed and transportation efficiency.

[0335] The embodiment of the present application also provides a product corresponding to the above method. The following will be introduced in detail through specific embodiments with reference to the drawings. It should be noted that the product described below may include functional modules and / or physical hardware required to implement the method provided by the embodiment of the present invention. The functional modules can be implemented by one or a combination of analog circuits, digital circuits, integrated circuits, and processing chips. The content described below about the product can be correspondingly referred to the content of the method described above.

[0336] The following will be combined with the attached Figure 19 , and a configuration device of the linear motor device provided by the embodiment of the present application will be introduced in detail. It should be noted that the configuration device in the attached Figure 19 is used to execute the method of the embodiment shown in the present application. For the convenience of description, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the embodiment shown in the present application.

[0337] Please refer to Figure 19 , which shows a schematic structural diagram of a configuration device of a linear motor device provided by an exemplary embodiment of the present application. The configuration device of the linear motor device can be implemented as all or part of the device through software, hardware, or a combination of both. The configuration device is connected to the linear motor device. The configuration device 1 of the linear motor device includes a position point creation unit 11 and a pointing information configuration unit 12.

[0338] The position point creation unit 11 creates a plurality of position points, wherein the plurality of position points are distributed along the stator line body, and the plurality of position points are used to control the moving path of the mover module;

[0339] Pointing information configuration unit 12, configured to configure corresponding dynamic pointing information for each of the position points based on the conveying process information of the mover module, where the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario.

[0340] In this embodiment, a plurality of position points are created, and corresponding attribute information is configured for each position point. Among them, the plurality of position points are distributed along the stator line body, and the plurality of position points are used to control the movement path of the mover module. Based on the conveying process information of the mover module, corresponding dynamic pointing information is configured for each of the position points, where the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario. By configuring dynamic pointing information for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position point is realized. Since a plurality of position points are used to control the movement path of the mover module, dynamically adjusting the pointing of the position point can make the movement path of the mover module variable, improve the flexibility of the movement of the mover module, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios.

[0341] The following will combine the attached Figure 20 , and will introduce in detail the control device of the linear motor device provided by the embodiment of the present application. It should be noted that the control device in the attached Figure 20 is used to execute the method of the embodiment shown in the present application. For the convenience of description, only the parts related to the embodiment of the present application are shown. For the specific technical details not disclosed, please refer to the embodiment shown in the present application.

[0342] Please refer to Figure 20 , which shows a schematic structural diagram of a control device of a linear motor device provided by an exemplary embodiment of the present application. The control device of the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both, and the control device is connected to the linear motor device. The control device 2 of the linear motor device includes a target determination unit 21, a monitoring information acquisition unit 22, a pointing object determination unit 23, and a mover module control unit 24.

[0343] The target determination unit 21, based on the position information of the mover module and the configuration information of a plurality of position points, determines the mover module and the position point with a position correspondence relationship, and obtains a target mover module and a target position point. Among them, the plurality of position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario;

[0344] A monitoring information acquisition unit 22, configured to acquire conveying monitoring information related to the target mover module, where the conveying monitoring information is monitored according to the conveying condition of the transportation scenario;

[0345] A pointing object determination unit 23, configured to determine a pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0346] A mover module control unit 24, configured to control a moving path of the mover module based on the pointing object of the target position point.

[0347] In this embodiment, based on the position information of the mover module and the configuration information of multiple position points, a mover module and a position point with a position correspondence relationship are determined to obtain a target mover module and a target position point, and conveying monitoring information related to the target mover module is acquired, where the conveying monitoring information is monitored according to the conveying condition of the transportation scenario. Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, the pointing object of the target position point is determined, and based on the pointing object of the target position point, the moving path of the mover module is controlled. By determining the pointing object of the target position point corresponding to the mover module through the dynamic pointing information and the conveying monitoring information, the function of dynamically adjusting the pointing of the position point according to the conveying condition is realized. Since multiple position points are used to control the moving path of the mover module, dynamically adjusting the pointing of the position point can make the moving path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios.

[0348] Next, in conjunction with the attached Figure 21 , a configuration device of a linear motor device provided by an embodiment of the present application will be introduced in detail. It should be noted that the configuration device in the attached Figure 21 is used to execute the method of the embodiment shown in the present application. For the sake of convenience of description, only parts related to the embodiment of the present application are shown. For the specific technical details not disclosed, please refer to the embodiment shown in the present application.

[0349] Please refer to Figure 21 , which shows a schematic structural diagram of a configuration device of a linear motor device provided by an exemplary embodiment of the present application. The configuration device of the linear motor device can be implemented as all or part of the device through software, hardware, or a combination of both. The configuration device is applied to a host computer, and the host computer is connected to the linear motor device. The configuration device 3 of the linear motor device includes a position point creation unit 31 and a pointing information configuration unit 32.

[0350] A position point creation unit 31 for creating a plurality of position points, wherein the plurality of position points are distributed along the stator line body, and the plurality of position points are used to control the movement path of the mover module;

[0351] A pointing information configuration unit 32 for configuring corresponding dynamic pointing information for each of the position points based on the conveying process information of the mover module, wherein the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario.

[0352] In this embodiment, a plurality of position points are created, and corresponding attribute information is configured for each position point. Among them, the plurality of position points are distributed along the stator line body, and the plurality of position points are used to control the movement path of the mover module. Based on the conveying process information of the mover module, corresponding dynamic pointing information is configured for each of the position points, wherein the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario. By configuring dynamic pointing information for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position point is realized. Since a plurality of position points are used to control the movement path of the mover module, dynamically adjusting the pointing of the position point can make the movement path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios.

[0353] The following will combine the attached Figure 22 to introduce in detail the control device of the linear motor device provided by the embodiment of the present application. It should be noted that the control device in the attached Figure 22 is used to execute the method of the embodiment shown in the present application. For the sake of convenience of description, only the parts related to the embodiment of the present application are shown. For the specific technical details not disclosed, please refer to the embodiment shown in the present application.

[0354] Please refer to Figure 22 , which shows a schematic structural diagram of a control device of a linear motor device provided by an exemplary embodiment of the present application. The control device of the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both. The control device is applied to the linear motor device, used to control the mover module and is connected to the host computer. The configuration device 4 of the linear motor device includes a configuration information receiving unit 41, a target determination unit 42, a monitoring information acquisition unit 43, a pointing object determination unit 44 and a mover module control unit 45.

[0355] A configuration information receiving unit 41, configured to receive configuration information of multiple position points sent by the host computer, where the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate a pointing object of the position point according to the conveying situation existing in the transportation scenario;

[0356] A target determining unit 42, configured to determine a mover module and a position point with a position correspondence relationship based on the position information of the mover module and the configuration information of multiple position points, so as to obtain a target mover module and a target position point, where the multiple position points are distributed along the stator line;

[0357] A conveying monitoring information obtaining unit 43, configured to obtain conveying monitoring information related to the target mover module, where the conveying monitoring information is monitored according to the conveying situation of the transportation scenario;

[0358] A pointing object determining unit 44, configured to determine a pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0359] A mover module control unit 45, configured to control the moving path of the mover module based on the pointing object of the target position point.

[0360] In this embodiment, by receiving the configuration information of multiple position points sent by the host computer, determining a mover module and a position point with a position correspondence relationship based on the position information of the mover module and the configuration information of multiple position points to obtain a target mover module and a target position point, obtaining the conveying monitoring information related to the target mover module, determining the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, and controlling the moving path of the mover module based on the pointing object of the target position point, the function of dynamically adjusting the pointing of the position point is realized by determining the pointing object of the target position point corresponding to the mover module through the dynamic pointing information and the conveying monitoring information. Since multiple position points are used to control the moving path of the mover module, dynamically adjusting the pointing of the position point can make the moving path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios. And by decoupling the steps, the computing loads of the host computer and the linear motor device are reduced, and the computing speed and transportation efficiency are further improved.

[0361] Next, the control device of the linear motor device provided in the embodiments of the present application will be introduced in detail. It should be noted that the appended Figure 23 , will be used to introduce the control device of the linear motor device provided in the embodiments of the present application in detail. It should be noted that the appended Figure 23The control device in it is used to execute the method of the embodiments shown in this application. For the sake of convenience of description, only the parts related to the embodiments of this application are shown. For the specific technical details not disclosed, please refer to the embodiments shown in this application.

[0362] Please refer to Figure 23 , which shows a schematic structural diagram of the control device of the linear motor device provided by an exemplary embodiment of this application. The control device of the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both. This control device is applied to the host computer, and the host computer is connected to the linear motor device. The configuration device 5 of the linear motor device includes a target determination unit 51, a monitoring information acquisition unit 52, a pointing object determination unit 53, and a control instruction sending unit 54.

[0363] The target determination unit 51 is used to determine the mover module and the position point with a position correspondence relationship based on the position information of the mover module and the configuration information of multiple position points, so as to obtain the target mover module and the target position point. Among them, the multiple position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario;

[0364] The monitoring information acquisition unit 52 is used to acquire the conveying monitoring information related to the target mover module, where the conveying monitoring information is monitored according to the conveying situation of the transportation scenario;

[0365] The pointing object determination unit 53 is used to determine the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0366] The control instruction sending unit 54 is used to generate a control instruction based on the pointing object of the target position point and send the control instruction to the linear motor device to control the movement path of the mover module.

[0367] In this embodiment, based on the position information of the mover module and the configuration information of multiple position points, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point. The obtained configuration information may further include attribute information, and the attribute information may include at least one of level information and primary / alternate information. The level information is used to represent the level relationship existing between the position points, and the primary / alternate information is used to represent the primary / alternate relationship existing between the position points. The conveying monitoring information related to the target mover module is obtained, it is determined whether the conveying monitoring information meets the dynamic pointing conditions of the dynamic pointing information, and the pointing object of the target position point is determined according to the judgment result. Based on the pointing object of the target position point, the moving path of the mover module is controlled. By determining the pointing object of the target position point corresponding to the mover module through the dynamic pointing information and the conveying monitoring information, the function of dynamically adjusting the position point pointing according to the conveying situation is realized. Since multiple position points are used to control the moving path of the mover module, the moving path of the mover module is variable, the flexibility of the mover module movement is improved, and it is more adaptable to complex and changeable working scenarios, thereby improving the transportation efficiency. And by decoupling the steps, the computing loads of the upper computer and the linear motor device are reduced, and the computing speed and transportation efficiency are further improved.

[0368] The following will combine the attached Figure 24 figures to introduce in detail the control device of the linear motor device provided in the embodiments of the present application. It should be noted that the Figure 24 control device in the figures is used to execute the method of the embodiments shown in the present application. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For the specific technical details not disclosed, please refer to the embodiments shown in the present application.

[0369] Please refer to Figure 24 FIG. which shows a schematic structural diagram of a control device of a linear motor device provided in an exemplary embodiment of the present application. The control device of the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both. The control device is applied to a linear motor device, and the linear motor device is connected to an upper computer. The configuration device 6 of the linear motor device includes a control instruction receiving unit 61, an instruction parsing unit 62, and a mover module control unit 63.

[0370] The control instruction receiving unit 61 is configured to receive the control instruction sent by the upper computer;

[0371] An instruction parsing unit 62 is configured to determine a target position point and a pointing object of the target position point based on the control instruction, wherein the target position point is determined based on the position information of the mover module and the configuration information of multiple position points, the multiple position points are distributed along the stator wire body, the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario. The pointing object of the target position point is determined based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0372] A mover module control unit 63 is configured to control the movement path of the target mover module corresponding to the target position point based on the target position point, the pointing object of the target position point, and the position information of the mover module.

[0373] In this embodiment, a control instruction sent by a host computer is received. Based on the control instruction, a target position point and a pointing object of the target position point are determined. Based on the pointing object of the target position point, the movement path of the target mover module corresponding to the target position point is controlled. The pointing object of the target position point corresponding to the mover module is determined according to the control instruction of the host computer, so as to realize the function of dynamically adjusting the pointing of the position point according to the conveying situation, and the operation load of the host computer and the linear motor device is reduced by step decoupling, further improving the operation speed and transportation efficiency.

[0374] It should be noted that when the control device and the configuration device of the linear motor device provided in the above embodiments execute the control method and the configuration method of the linear motor device, only the above division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the control device of the linear motor device provided in the above embodiments, the control method embodiment of the linear motor device, the configuration device of the linear motor device, and the configuration method embodiment of the linear motor device belong to the same concept, and the implementation process is detailed in the method embodiment, which will not be elaborated here.

[0375] The embodiment of the present application also provides a computer storage medium, which can store multiple instructions. The instructions are suitable for being loaded and executed by a processor to execute the configuration method and / or the control method of the linear motor device provided in any of the above embodiments. The specific execution process can refer to the specific description of the relevant embodiments, which will not be elaborated here.

[0376] The present application also provides a computer program product, which stores at least one instruction. The at least one instruction is loaded and executed by the processor to perform the configuration method and / or the control method of the linear motor device provided in any of the above embodiments. The specific execution process can refer to the specific description of the relevant embodiments, which will not be elaborated here.

[0377] Please refer to Figure 25 , which shows a block diagram of the structure of an electronic device provided by an exemplary embodiment of the present application. The electronic device in the present application may include one or more of the following components: a processor 110, a memory 120, an input device 130, an output device 140, and a bus 150. The processor 110, the memory 120, the input device 130, and the output device 140 may be connected through the bus 150.

[0378] The processor 110 may include one or more processing cores. The processor 110 uses various interfaces and lines to connect various parts within the entire electronic device. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 120, and by calling data stored in the memory 120, it performs various functions of the terminal 100 and processes data. Optionally, the processor 110 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 110 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user pages, and application programs, etc.; the GPU is responsible for rendering and drawing display content; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor 110 and may be implemented separately through a communication chip.

[0379] The memory 120 may include a Random Access Memory (RAM), or may also include a Read-Only Memory (ROM). Optionally, the memory 120 includes a Non-Transitory Computer-Readable Storage Medium. The memory 120 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 120 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.

[0380] The memory 120 can be divided into an operating system space and a user space. The operating system runs in the operating system space, and native and third-party application programs run in the user space.

[0381] Among them, the input device 130 is used to receive input instructions or data. The input device 130 includes but is not limited to a keyboard, a mouse, a camera, a microphone or a touch device. The output device 140 is used to output instructions or data. The output device 140 includes but is not limited to a display device and a speaker, etc. In one example, the input device 130 and the output device 140 can be combined, and the input device 130 and the output device 140 are a touch display screen.

[0382] The touch display screen can be designed as a full-screen, a curved screen or a special-shaped screen. The touch display screen can also be designed as a combination of a full-screen and a curved screen, a combination of a special-shaped screen and a curved screen. The embodiments of the present application do not limit this.

[0383] In addition, those skilled in the art can understand that the structure of the electronic device shown in the above drawings does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the drawings, or combine some components, or have different component arrangements. For example, the electronic device also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a Wireless Fidelity (WiFi) module, a power supply, a Bluetooth module, etc., which will not be elaborated here.

[0384] In Figure 21 In the electronic device shown, the processor 110 can be used to call the configuration application program of the linear motor device stored in the memory 120, and specifically perform the following operations:

[0385] Create a plurality of position points, wherein the plurality of position points are distributed along the stator wire body, and the plurality of position points are used to control the movement path of the mover module;

[0386] Based on the conveying process information of the mover module, corresponding dynamic pointing information is configured for each of the position points, where the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario.

[0387] In this embodiment, multiple position points are created, and corresponding attribute information is configured for each position point. The attribute information may include level information, primary / alternate information, coordinate information, and flag information, which is convenient for describing the positions and relationships of the position points. Among them, the level information improves the search and management efficiency of the position points and enhances the adjustment efficiency of the position points. The primary / alternate information can avoid the situation where the position of the position point is inaccurate when creating the position point. Based on the conveying process information of the mover module, dynamic pointing conditions and the pointing objects corresponding to the dynamic pointing conditions are configured for each position point, and the attribute information of the position point can also be modified based on the position point modification instruction. By configuring dynamic pointing information for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position point is realized. Since multiple position points are used to control the movement path of the mover module, dynamically adjusting the pointing of the position point can make the movement path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios.

[0388] In Figure 21 In the electronic device shown, the processor 110 can be used to call the control application program of the linear motor device stored in the memory 120 and specifically perform the following operations:

[0389] Based on the position information of the mover module and the configuration information of multiple position points, determine the mover module and the position point with a position correspondence relationship to obtain the target mover module and the target position point, where the multiple position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario;

[0390] Obtain the conveying monitoring information related to the target mover module, where the conveying monitoring information is monitored according to the conveying situation of the transportation scenario;

[0391] Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, determine the pointing object of the target position point;

[0392] Based on the pointing object of the target position point, control the movement path of the mover module.

[0393] In this embodiment, based on the position information of the mover module and the configuration information of multiple position points, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point. The obtained configuration information may further include attribute information, and the attribute information may include at least one of level information and primary / alternate information. The level information is used to represent the level relationship existing between the position points, and the primary / alternate information is used to represent the primary / alternate relationship existing between the position points. The conveyance monitoring information related to the target mover module is obtained, it is determined whether the conveyance monitoring information meets the dynamic pointing conditions of the dynamic pointing information, and the pointing object of the target position point is determined according to the judgment result. Based on the pointing object of the target position point, the movement path of the mover module is controlled. By determining the pointing object of the target position point corresponding to the mover module through the dynamic pointing information and the conveyance monitoring information, the function of dynamically adjusting the pointing of the position point according to the conveyance situation is realized. Since multiple position points are used to control the movement path of the mover module, dynamically adjusting the pointing of the position point can make the movement path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveyance process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios.

[0394] In Figure 21 In the electronic device shown, the processor 110 may be used to call the control application program of the linear motor device stored in the memory 120 and specifically perform the following operations:

[0395] Receive the configuration information of multiple position points sent by the host computer. The configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveyance situation existing in the transportation scenario;

[0396] Based on the position information of the mover module and the configuration information of multiple position points, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point, where multiple of the position points are distributed along the stator line body;

[0397] Obtain the conveyance monitoring information related to the target mover module, where the conveyance monitoring information is monitored according to the conveyance situation of the transportation scenario;

[0398] Based on the conveyance monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, determine the pointing object of the target position point;

[0399] Based on the pointing object of the target position point, control the movement path of the mover module.

[0400] In this embodiment, the configuration information of multiple position points sent by the host computer is received, and the attribute information of each position point sent by the host computer is received. The attribute information may include at least one of level information and primary / alternate information. The level information is used to represent the hierarchical relationship existing between the position points, and the primary / alternate information is used to represent the primary / alternate relationship existing between the position points. Based on the position information of the mover module and the configuration information of multiple position points, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point. Among the received conveying monitoring information, the conveying monitoring information related to the target mover module is determined. The conveying detection information may be sent by a conveying detection device or the host computer. Based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point, the pointing object of the target position point is determined. Based on the pointing object of the target position point, the moving path of the mover module is controlled. By determining the pointing object of the target position point corresponding to the mover module through the dynamic pointing information and the conveying monitoring information, the function of dynamically adjusting the pointing of the position point according to the conveying situation is realized. Since multiple position points are used to control the moving path of the mover module, dynamically adjusting the pointing of the position point can make the moving path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios. And by decoupling the steps, the computing loads of the host computer and the linear motor device are reduced, and the computing speed and transportation efficiency are further improved.

[0401] In Figure 21 In the electronic device shown, the processor 110 may be used to call the control application program of the linear motor device stored in the memory 120 and specifically perform the following operations:

[0402] Receive the control instruction sent by the host computer;

[0403] Based on the control instruction, determine the target position point and the pointing object of the target position point. The target position point is the position point that has a position correspondence relationship with the mover module and is obtained based on the position information of the mover module and the configuration information of multiple position points. The multiple position points are distributed along the stator line body, and the configuration information includes dynamic pointing information. The dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario;

[0404] Based on the pointing object of the target position point, control the moving path of the target mover module corresponding to the target position point. The target mover module is the mover module that has a position correspondence relationship with the target position point.

[0405] In this embodiment, a control instruction sent by a host computer is received. Based on the control instruction, a target position point and the pointing object of the target position point are determined. Based on the pointing object of the target position point, the movement path of the target mover module corresponding to the target position point is controlled. Determining the pointing object of the target position point corresponding to the mover module according to the control instruction of the host computer realizes the function of dynamically adjusting the position point pointing according to the conveying situation, and reduces the computing load of the host computer and the linear motor device through step decoupling, further improving the computing speed and transportation efficiency.

[0406] The electronic device in this application may include one or more of the following components: a processor 210, a memory 220, an input device 230, an output device 240, and a bus 250. The processor 210, the memory 220, the input device 230, and the output device 240 may be connected through the bus 250. For the relevant structure of the electronic device, please refer to Figure 25 .

[0407] The processor 210 may include one or more processing cores. The processor 210 connects various parts within the entire electronic device using various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 220, and by calling the data stored in the memory 220, it executes various functions of the electronic device 200 and processes data. Optionally, the processor 210 may be implemented in at least one hardware form of DSP, FPGA, or PLA. The processor 210 may integrate one or several combinations of a CPU, a GPU, and a modem, etc. Among them, the CPU mainly processes the operating system, the user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the displayed content; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor 210 and may be implemented separately through a communication chip.

[0408] The memory 220 may include RAM and may also include ROM. Optionally, the memory 220 includes a non-transitory computer-readable medium. The memory 220 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 220 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for implementing at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the following various method embodiments, etc. The operating system may be the Android system, including a system developed based on the Android system in depth, the IOS system developed by Apple Inc., including a system developed based on the IOS system in depth, or other systems. The data storage area may also store the data created during the use of the electronic device, such as a phone book, audio and video data, chat record data, etc.

[0409] The memory 220 can be divided into an operating system space and a user space. The operating system runs in the operating system space, and native and third-party applications run in the user space. In order to ensure that different third-party applications can achieve good operating results, the operating system allocates corresponding system resources to different third-party applications. However, the requirements for system resources in different application scenarios in the same third-party application are also different. For example, in the local resource loading scenario, the third-party application has higher requirements for disk reading speed; in the animation rendering scenario, the third-party application has higher requirements for GPU performance. The operating system and third-party applications are independent of each other, and the operating system often cannot perceive the current application scenario of the third-party application in a timely manner, resulting in the operating system being unable to perform targeted system resource adaptation according to the specific application scenario of the third-party application.

[0410] In order for the operating system to distinguish the specific application scenarios of third-party applications, it is necessary to open up data communication between third-party applications and the operating system so that the operating system can obtain the current scenario information of third-party applications at any time, and then perform targeted system resource adaptation based on the current scenario.

[0411] The input device 230 is used to receive input commands or data, and includes but is not limited to a keyboard, a mouse, a camera, a microphone, or a touch device. The output device 240 is used to output commands or data, and includes but is not limited to a display device and a speaker. In one example, the input device 230 and the output device 240 can be combined, and the input device 230 and the output device 240 are touch screen displays.

[0412] The touch display screen can be designed as a full screen, a curved screen or a special-shaped screen. The touch display screen can also be designed as a combination of a full screen and a curved screen, or a combination of a special-shaped screen and a curved screen, which is not limited in the embodiments of the present application.

[0413] In addition, those skilled in the art can understand that the structure of the electronic device shown in the above drawings does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than shown, or combine certain components, or arrange the components differently. For example, the electronic device also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a WiFi module, a power supply, and a Bluetooth module, which will not be described in detail here.

[0414] exist Figure 22 In the electronic device shown, the processor 210 can be used to call the configuration application of the linear motor device stored in the memory 220, and specifically perform the following operations:

[0415] Create multiple position points, where the multiple position points are distributed along the stator wire body, and the multiple position points are used to control the movement path of the mover module;

[0416] Based on the conveying process information of the mover module, configure corresponding dynamic pointing information for each of the position points, where the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario.

[0417] In this embodiment, multiple position points are created, and corresponding attribute information is configured for each position point. The attribute information may include level information, primary / alternate information, coordinate information, and flag information, which is convenient for describing the positions and relationships of the position points. Among them, the level information improves the search and management efficiency of the position points and enhances the adjustment efficiency of the position points. The primary / alternate information can avoid the situation where the position of the position point is inaccurate when creating the position point. Based on the conveying process information of the mover module, configure dynamic pointing conditions and the pointing objects corresponding to the dynamic pointing conditions for each position point, and send the configured dynamic pointing information to the linear motor device for the linear motor device to use. Moreover, the attribute information of the position point can be modified based on the position point modification instruction. By configuring dynamic pointing information for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position point is realized. Since multiple position points are used to control the movement path of the mover module, dynamically adjusting the pointing of the position point can make the movement path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios. And by decoupling the steps, the computing loads of the host computer and the linear motor device are reduced, and the computing speed and transportation efficiency are further improved.

[0418] In Figure 22 the electronic device shown, the processor 210 can be used to call the control application program of the linear motor device stored in the memory 220 and specifically perform the following operations:

[0419] Based on the position information of the mover module and the configuration information of the multiple position points, determine the mover module and the position point with a position correspondence relationship to obtain the target mover module and the target position point, where the multiple position points are distributed along the stator wire body, the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scenario;

[0420] Obtain the conveying monitoring information related to the target mover module, where the conveying monitoring information is monitored according to the conveying situation of the transportation scenario;

[0421] Determine the pointing object of the target position point based on the conveying monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point;

[0422] Generate a control instruction based on the pointing object of the target position point, and send the control instruction to the linear motor device to control the movement path of the mover module.

[0423] In this embodiment, based on the position information of the mover module and the configuration information of multiple position points, determine the mover module and the position point with a position correspondence relationship to obtain the target mover module and the target position point. The obtained configuration information may further include attribute information, and the attribute information may include at least one of level information and primary / alternate information. The level information is used to represent the level relationship existing between the position points, and the primary / alternate information is used to represent the primary / alternate relationship existing between the position points. Obtain the conveying monitoring information related to the target mover module, determine whether the conveying monitoring information meets the dynamic pointing conditions of the dynamic pointing information, and determine the pointing object of the target position point according to the judgment result. Based on the pointing object of the target position point, control the movement path of the mover module. By determining the pointing object of the target position point corresponding to the mover module through the dynamic pointing information and the conveying monitoring information, the function of dynamically adjusting the position point pointing according to the conveying situation is realized. Since multiple position points are used to control the movement path of the mover module, dynamically adjusting the position point pointing can make the movement path of the mover module variable, improve the flexibility of the mover module movement, and further improve the flexibility of the article conveying process, thereby improving the transportation efficiency, being more adaptable to complex and changeable working scenarios, and reducing the computing load of the host computer and the linear motor device through step decoupling, further improving the computing speed and transportation efficiency.

[0424] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it may include the processes of the embodiments of the above methods. Among them, the storage medium may be a magnetic disk, an optical disk, a read-only memory, or a random access memory, etc.

[0425] The above-disclosed are only the preferred embodiments of the present application. Of course, the scope of the rights of the present application cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

[0426] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.), and signals involved in the embodiments of this specification are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions. For example, the conveying process information involved in this specification is obtained under full authorization.

Claims

1. A method for configuring a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario, the linear motor device comprises a mover module and a stator line body, and the method comprises: Creating a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module; Based on the conveying process information of the moving submodule, corresponding dynamic pointing information is configured for each of the position points, wherein the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scene.

2. The method according to claim 1, characterized in that The step of configuring corresponding dynamic pointing information for each position point based on the conveying process information of the moving submodule includes: Based on the conveying process information of the moving submodule, a dynamic pointing condition and a pointing object corresponding to the dynamic pointing condition are configured for each of the position points, wherein the pointing object is selected from the plurality of position points.

3. The method according to claim 1, characterized in that The method further comprises: Corresponding attribute information is configured for each of the location points, and the attribute information includes at least one of level information and primary and secondary information.

4. The method according to any one of claims 1 to 3, characterized in that: The configuring corresponding attribute information for each of the location points includes: Configuring attribute information including first-level information for at least one of the location points to obtain a first-level location point; Taking the primary location point as a reference, attribute information including second-level information is relatively configured for at least one of the location points to obtain a secondary location point, wherein the use status of the secondary location point is linked to the use status of the primary location point.

5. The method according to claim 4, characterized in that The method further comprises: In response to the location point modification instruction, at least one of the attribute information, dynamic pointing information and usage status of the location point indicated by the location point modification instruction is modified.

6. The method according to claim 5, characterized in that The method further comprises: When at least one of a deletion modification operation, a level modification operation and a primary-replacement modification operation is performed on the indicated location point based on the location point modification instruction, at least one of the attribute information, dynamic pointing information and usage status of the relevant location point is changed.

7. The method according to claim 1, characterized in that The step of configuring corresponding dynamic pointing information for each position point based on the conveying process information of the moving submodule includes: Based on the conveying process information of the mover module, corresponding dynamic directional information is configured for position points in different stator segments.

8. A control method for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario, the linear motor device comprises a mover module and a stator line body, and the method comprises: Based on the position information of the mover module and the configuration information of the plurality of position points, the mover module and the position point having a position correspondence relationship are determined, and the target mover module and the target position point are obtained, wherein the plurality of position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the transportation situation existing in the transportation scene; Acquire transportation monitoring information related to the target mover module, wherein the transportation monitoring information is obtained by monitoring the transportation situation of the transportation scenario; Determine the pointing object of the target position point based on the transport monitoring information related to the target moving submodule and the dynamic pointing information corresponding to the target position point; Based on the pointing object of the target position point, the moving path of the moving submodule is controlled.

9. The method according to claim 8, characterized in that The determining the pointing object of the target position point based on the transport monitoring information related to the target moving submodule and the dynamic pointing information corresponding to the target position point includes: It is determined whether the transport monitoring information satisfies the dynamic pointing condition of the dynamic pointing information, and the pointing object of the target position point is determined according to the determination result, wherein the pointing object is selected from the plurality of position points.

10. The method according to claim 8, characterized in that The configuration information of the location point also includes attribute information, and the attribute information includes at least one of level information and primary and secondary information.

11. The method according to any one of claims 8 to 10, characterized in that: The multiple location points include primary location points and secondary location points, and the secondary location points are relatively configured with respect to the primary location points, wherein the primary location point is a location point whose attribute information includes first-level information, and the secondary location point is a location point whose attribute information includes second-level information, and the usage status of the secondary location point is linked to the usage status of the primary location point.

12. The method according to claim 11, characterized in that The method further comprises: In response to the location point modification instruction, at least one of the attribute information, dynamic pointing information and usage status of the location point indicated by the location point modification instruction is modified.

13. The method according to claim 12, characterized in that The method further comprises: When at least one of a deletion modification operation, a level modification operation and a primary-replacement modification operation is performed on the indicated location point based on the location point modification instruction, at least one of the attribute information, dynamic pointing information and usage status of the relevant location point is changed.

14. The method according to claim 8, characterized in that The controlling the moving path of the moving submodule based on the pointing object of the target position point comprises: Based on the pointing object of the target position point, the mover module is controlled to move to different stator segments.

15. A method for configuring a linear motor device, characterized in that: The method is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the method includes: Creating a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module; Based on the conveying process information of the moving submodule, corresponding dynamic pointing information is configured for each of the position points, wherein the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scene.

16. The method according to claim 15, characterized in that The method further comprises: The configuration information of the position point is sent to the linear motor device for use by the linear motor device, wherein the configuration information includes: dynamic pointing information.

17. The method according to claim 15, characterized in that The step of configuring corresponding dynamic pointing information for each position point based on the conveying process information of the moving submodule includes: Based on the conveying process information of the moving submodule, a dynamic pointing condition and a pointing object corresponding to the dynamic pointing condition are configured for each of the position points, wherein the pointing object is selected from the plurality of position points.

18. The method according to claim 15, characterized in that The method further comprises: Corresponding attribute information is configured for each of the location points, and the attribute information includes at least one of level information and primary and secondary information.

19. The method according to any one of claims 15 to 18, characterized in that The configuring corresponding attribute information for each of the location points includes: Configuring attribute information including first-level information for at least one of the location points to obtain a first-level location point; Taking the primary location point as a reference, attribute information including second-level information is relatively configured for at least one of the location points to obtain a secondary location point, wherein the use status of the secondary location point is linked to the use status of the primary location point.

20. The method according to claim 19, characterized in that The method further comprises: In response to the location point modification instruction, at least one of the attribute information, dynamic pointing information and usage status of the location point indicated by the location point modification instruction is modified.

21. The method according to claim 19, characterized in that The method further comprises: When at least one of a deletion modification operation, a level modification operation and a primary-replacement modification operation is performed on the indicated location point based on the location point modification instruction, at least one of the attribute information, dynamic pointing information and usage status of the relevant location point is changed.

22. The method according to claim 15, characterized in that The step of configuring corresponding dynamic pointing information for each position point based on the conveying process information of the moving submodule includes: Based on the conveying process information of the mover module, corresponding dynamic directional information is configured for position points in different stator segments.

23. A control method for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario, the linear motor device is connected to a host computer, and the linear motor device includes a mover module and a stator line body, and the method includes: Receiving configuration information of a plurality of location points sent by the host computer, the configuration information including dynamic pointing information, the dynamic pointing information being used to dynamically indicate a pointing object of the location point according to a transportation situation existing in the transportation scene; Based on the position information of the mover module and the configuration information of the plurality of position points, the mover module and the position point having a position correspondence relationship are determined to obtain a target mover module and a target position point, wherein the plurality of position points are distributed along the stator line; Acquire transportation monitoring information related to the target mover module, wherein the transportation monitoring information is obtained by monitoring the transportation situation of the transportation scenario; Determine the pointing object of the target position point based on the transport monitoring information related to the target moving submodule and the dynamic pointing information corresponding to the target position point; Based on the pointing object of the target position point, the moving path of the moving submodule is controlled.

24. The method according to claim 23, characterized in that The acquiring of the transport monitoring information related to the target mover module includes: The transport monitoring information related to the target mover module is determined in the received transport monitoring information, and the transport monitoring information is sent by the transport monitoring device or the host computer.

25. The method according to claim 23, characterized in that Before determining the mover modules and the position points having the position correspondence relationship based on the position information of the mover modules and the configuration information of the plurality of position points, and obtaining the target mover modules and the target position points, the method further comprises: Receive attribute information of each of the location points sent by the host computer, wherein the attribute information includes at least one of level information and primary and secondary information.

26. The method according to claim 25, characterized in that The multiple location points include primary location points and secondary location points, and the secondary location points are relatively configured with respect to the primary location points, wherein the primary location point is a location point whose attribute information includes first-level information, and the secondary location point is a location point whose attribute information includes second-level information, and the usage status of the secondary location point is linked to the usage status of the primary location point.

27. The method according to claim 25, characterized in that The method further comprises: Receiving a position point modification instruction sent by the host computer; In response to the location point modification instruction, at least one of the attribute information, dynamic pointing information and usage status of the location point indicated by the location point modification instruction is modified.

28. The method according to claim 27, characterized in that The method further comprises: When at least one of a deletion modification operation, a level modification operation and a primary-replacement modification operation is performed on the indicated location point based on the location point modification instruction, at least one of the attribute information, dynamic pointing information and usage status of the relevant location point is changed.

29. The method according to claim 23, characterized in that The determining the pointing object of the target position point based on the transport monitoring information related to the target moving submodule and the dynamic pointing information corresponding to the target position point includes: It is determined whether the transport monitoring information satisfies the dynamic pointing condition of the dynamic pointing information, and the pointing object of the target position point is determined according to the determination result, wherein the pointing object is selected from the multiple position points.

30. The method according to claim 23, characterized in that The controlling the moving path of the moving submodule based on the pointing object of the target position point comprises: Based on the pointing object of the target position point, the mover module is controlled to move to different stator segments.

31. A control method for a linear motor device, characterized in that: Applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the method includes: Based on the position information of the mover module and the configuration information of the plurality of position points, the mover module and the position point having a position correspondence relationship are determined, and the target mover module and the target position point are obtained, wherein the plurality of position points are distributed along the stator line body, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the transportation situation existing in the transportation scene; Acquire transportation monitoring information related to the target mover module, wherein the transportation monitoring information is obtained by monitoring the transportation situation of the transportation scenario; Determine the pointing object of the target position point based on the transport monitoring information related to the target moving submodule and the dynamic pointing information corresponding to the target position point; A control instruction is generated based on the pointing object of the target position point, and the control instruction is sent to the linear motor device to control the moving path of the mover module.

32. The method according to claim 31, characterized in that The acquiring of the transport monitoring information related to the target mover module includes: The conveying monitoring information related to the target mover module is determined in the received conveying monitoring information, wherein the conveying monitoring information is sent by the conveying monitoring device or the linear motor equipment.

33. The method according to claim 32, characterized in that The determining the pointing object of the target position point based on the transport monitoring information related to the target moving submodule and the dynamic pointing information corresponding to the target position point includes: It is determined whether the transport monitoring information satisfies the dynamic pointing condition of the dynamic pointing information, and the pointing object of the target position point is determined according to the determination result, wherein the pointing object is selected from the plurality of position points.

34. The method according to claim 31, characterized in that The configuration information of the location point also includes attribute information, and the attribute information includes at least one of level information and primary and secondary information.

35. The method according to any one of claims 31 to 34, characterized in that The multiple location points include primary location points and secondary location points, and the secondary location points are relatively configured with respect to the primary location points, wherein the primary location point is a location point whose attribute information includes first-level information, and the secondary location point is a location point whose attribute information includes second-level information, and the usage status of the secondary location point is linked to the usage status of the primary location point.

36. The method according to claim 34, characterized in that The method further comprises: A position point modification instruction is generated and sent to the linear motor device, wherein the position point modification instruction is used to modify at least one of the attribute information, dynamic pointing information and use status of the indicated position point.

37. The method according to claim 36, characterized in that The location point modification instruction is also used to change at least one of the attribute information, dynamic pointing information and usage status of the relevant location point when at least one of the deletion modification operation, level modification operation and primary replacement modification operation is performed on the indicated location point based on the location point modification instruction.

38. The method according to claim 31, characterized in that The generating of control instructions based on the pointing object of the target position point and sending the control instructions to the linear motor device to control the moving path of the mover module includes: A control instruction is generated based on the pointing object of the target position point, and the control instruction is sent to the linear motor device to control the mover module to move to different stator segments.

39. A control method for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario, the linear motor device is connected to a host computer, and the linear motor device includes a mover module and a stator line body, and the method includes: Receiving control instructions sent by the host computer; Based on the control instruction, determine the target position point and the object pointed to by the target position point, wherein the target position point is determined based on the position information of the mover module and the configuration information of multiple position points, the multiple position points are distributed along the stator line, the configuration information includes dynamic pointing information, the dynamic pointing information is used to dynamically indicate the object pointed to by the position point according to the transportation situation existing in the transportation scene, and the object pointed to by the target position point is determined based on the transportation monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point; Based on the target position point, the object pointed by the target position point and the position information of the mover module, a moving path of the target mover module corresponding to the target position point is controlled.

40. A configuration device for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario, the linear motor device comprises a mover module and a stator line body, and the configuration device comprises: A position point creation unit, which creates a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module; The pointing information configuration unit is used to configure corresponding dynamic pointing information for each of the position points based on the conveying process information of the moving submodule, wherein the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scene.

41. A control device for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario. The linear motor device includes a mover module and a stator line body. The control device includes: A target determination unit, based on the position information of the mover module and the configuration information of the plurality of position points, determines the mover module and the position point having a position correspondence relationship, and obtains the target mover module and the target position point, wherein the plurality of position points are distributed along the stator line, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the transportation situation existing in the transportation scene; A monitoring information acquisition unit, used to acquire transport monitoring information related to the target mover module, wherein the transport monitoring information is obtained by monitoring the transport situation of the transport scenario; A pointing object determination unit, used to determine the pointing object of the target position point based on the transport monitoring information related to the target moving submodule and the dynamic pointing information corresponding to the target position point; The mover module control unit is used to control the moving path of the mover module based on the pointing object of the target position point.

42. A configuration device for a linear motor device, characterized in that: The configuration device is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the configuration device includes: A position point creation unit, used to create a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module; The pointing information configuration unit is used to configure corresponding dynamic pointing information for each of the position points based on the conveying process information of the moving submodule, wherein the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the conveying situation existing in the transportation scene.

43. A control device for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario. The linear motor device includes a mover module and a stator line body. The control device is used to control the mover module and the control device is connected to a host computer. The control device includes: A configuration information receiving unit, used to receive configuration information of multiple location points sent by the host computer, wherein the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the location point according to the transportation situation existing in the transportation scene; A target determination unit, configured to determine a mover module and a position point having a position correspondence relationship based on the position information of the mover module and the configuration information of a plurality of position points, and obtain a target mover module and a target position point, wherein the plurality of position points are distributed along the stator line; A monitoring information acquisition unit, used to acquire transport monitoring information related to the target mover module, wherein the transport monitoring information is obtained by monitoring the transport situation of the transport scenario; A pointing object determination unit, used to determine the pointing object of the target position point based on the transport monitoring information related to the target moving submodule and the dynamic pointing information corresponding to the target position point; The mover module control unit is used to control the moving path of the mover module based on the pointing object of the target position point.

44. A control device for a linear motor device, characterized in that: The control device is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the control device includes: A target determination unit, used to determine the mover module and the position point having a position correspondence relationship based on the position information of the mover module and the configuration information of the plurality of position points, and obtain the target mover module and the target position point, wherein the plurality of position points are distributed along the stator line, and the configuration information includes dynamic pointing information, and the dynamic pointing information is used to dynamically indicate the pointing object of the position point according to the transportation situation existing in the transportation scene; A monitoring information acquisition unit, used to acquire transport monitoring information related to the target mover module, wherein the transport monitoring information is obtained by monitoring the transport situation of the transport scenario; A pointing object determination unit, used to determine the pointing object of the target position point based on the transport monitoring information related to the target moving submodule and the dynamic pointing information corresponding to the target position point; A control instruction sending unit is used to generate a control instruction based on the pointing object of the target position point, and send the control instruction to the linear motor device to control the moving path of the mover module.

45. A control device for a linear motor device, characterized in that: The control device is applied to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device is connected to a host computer, and the linear motor device includes a mover module and a stator line body, and the control device includes: A control instruction receiving unit, used for receiving a control instruction sent by the host computer; An instruction parsing unit, configured to determine a target position point and an object pointed to by the target position point based on the control instruction, wherein the target position point is determined based on the position information of the mover module and the configuration information of a plurality of position points, the plurality of position points are distributed along the stator line, the configuration information includes dynamic pointing information, the dynamic pointing information is used to dynamically indicate the object pointed to by the position point according to the transportation situation existing in the transportation scene, and the object pointed to by the target position point is determined based on the transportation monitoring information related to the target mover module and the dynamic pointing information corresponding to the target position point; A mover module control unit is used to control a moving path of a target mover module corresponding to the target position point based on the target position point, the object pointed to by the target position point and the position information of the mover module.

46. ​​A computer storage medium, characterized in that The computer storage medium stores a plurality of instructions, which are suitable for being loaded by a processor and executing the method steps of any one of claims 1 to 7, 8 to 14, 15 to 22, 23 to 30, 31 to 38 and 39.

47. An electronic device, characterized in that: include: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the method steps of any one of claims 1 to 7, 8 to 14, 15 to 22, 23 to 30, 31 to 38 and 39.

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