Transportation Management Method, Device, Transportation System and Storage Medium

Abstract

The embodiments of the present application provide a conveying management method, device, conveying system, and computer-readable storage medium. The above method is applied to a PLC in the conveying system, and the system further includes M conveying devices belonging to N device types; M instances corresponding to the M conveying devices are resident in the PLC, where the instances corresponding to the conveying devices belonging to the same device type are generated by the same function block. And each instance has a uniformly defined interface, which facilitates the interaction between instances; when each instance is called, it will update and record the current device state according to the input data and the recorded device state, and output output data for realizing material conveying. Since the instances corresponding to the conveying devices of the same device type are generated by the same function block, in this way, the same function block can be reused for the same type of devices, and there is no need to develop a function block for each conveying device, so repetitive operations can be effectively reduced.

Description

Technical Field

[0001] The present application relates to the field of electronic information technology, and particularly to a conveying management method, device, conveying system, and computer-readable storage medium. Background Art

[0002] In recent years, with the continuous improvement of the mechanical automation level in the industry, the importance of the logistics industry in production enterprises has been gradually increasing. Due to its advantages of simple structure and dense deployment for large-scale caching, the conveying system is often used as the basic equipment for logistics projects.

[0003] The conveying system generally uses a PLC (Programmable Logic Controller) to control the conveying equipment. Since the number of conveying equipment is huge, it brings a great deal of workload to the development and debugging process of the PLC, and a lot of repetitive work is required. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to propose a conveying management method, device, conveying system, and computer-readable storage medium to solve the problem of excessive repetitive work.

[0005] To achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

[0006] A conveying management method is applied to a programmable logic controller in a conveying system. The conveying system includes M conveying devices and the programmable logic controller, and the M conveying devices belong to N device types; where N and M are positive integers, and M is greater than N; each device type corresponds to a function block; M instances corresponding to the M conveying devices are resident in the programmable logic controller, and the instances corresponding to the conveying devices belonging to the same device type are generated by the same function block; each of the instances has a uniformly defined interface.

[0007] The method includes:

[0008] Receiving task data sent by a host computer; the task data includes: a destination and material information;

[0009] Determining a material conveying path according to the destination; the material conveying path includes at least one of the M instances;

[0010] Invoking each instance in the material conveying path to perform material conveyance and transmitting the task data in the material conveying path;

[0011] Wherein, the material conveying operation includes:

[0012] Update and record the current device status according to the input data and the recorded device status, and output the output data for material transportation; the input data and output data are transmitted through the interface.

[0013] Optionally, any conveying device is uniformly divided into multiple directions; each instance has the interface at least in the target direction, and any target direction corresponds to the upstream or downstream of the instance; the target direction is determined according to the actual upstream and downstream relationship of the any conveying device.

[0014] Optionally, the input data includes at least one of task data, target sensor signal, and interaction signal; the target sensor signal includes the sensing signal from the target sensor; the target sensor includes the sensor for collecting information on the conveying device corresponding to the any instance; any of the interaction signals comes from the upstream or downstream; the output data includes at least one of the following data: operation control signal, which is used to instruct the conveying device corresponding to the any instance to perform corresponding operations; response signal for the upstream; request signal for the downstream; the response signal and request signal belong to the interaction signal.

[0015] Optionally, the interface of any instance includes at least: digital input interface, upstream communication interface, downstream communication interface, control signal output interface; where: the digital input interface is used to obtain the target sensor signal from the physical digital input interface of the programmable logic controller; the upstream communication interface is used for this instance to interact with the upstream; the downstream communication interface is used for this instance to interact with the downstream; the control signal output interface is connected to the physical control signal output interface of the programmable logic controller and is used to send operation control instructions to the conveying device corresponding to the any instance via the physical control signal output interface.

[0016] Optionally, the interface structures of the upstream communication interface and the downstream communication interface both include 3 variables, and each variable represents an interaction signal. The 3 variables include: DTR: Request to enter the lower level; ATR: Allow the upper level to enter; FTR: Complete the transportation.

[0017] Optionally, the conveying device corresponding to the called instance is the conveying device at this level; the updating and recording of the current device status according to the input data and the recorded device status, and the outputting of the output data for realizing material transportation, specifically include the following steps: if the current device status is an idle state, receiving a request to enter the lower level signal sent by the upstream; the request to enter the lower level signal is an interactive signal; at least sending a driving signal to the conveying device at this level, and changing the current device status from an idle state to a feeding state; the driving signal is an operation control signal; sending a signal allowing the upper level to enter to the upstream; the signal allowing the upper level to enter to the upper level is an interactive signal; receiving the The task data sent by the upstream; when receiving the sensor signal sent by the in-place sensor of the conveying equipment at this level, stop sending the driving signal to the conveying equipment at this level, and change the current equipment state from the feeding state to the in-place state; the target sensor includes the in-place sensor; send a completion conveying signal to the upstream, and send a request to enter the lower level signal to the downstream; the completion conveying signal is an interactive signal; when receiving the upper level entry permission signal sent by the downstream, change the current equipment state from the in-place state to the discharging state, and transmit the task data to the downstream; when receiving the completion conveying signal sent by the downstream, clear the task data.

[0018] Optionally, after material transportation, the instance is also used to: change the current device state to an initialization state; when the target sensor is normal and meets the idle condition, change the current device state from the initialization state to the idle state; the idle condition includes at least: no material is detected and the task data has been cleared.

[0019] A conveying system, comprising:

[0020] A programmable logic controller and M conveying devices connected to the programmable logic controller, wherein the M conveying devices belong to N device types; wherein N and M are positive integers, and M is greater than N; and each device type corresponds to a functional block;

[0021] The programmable logic controller has M instances corresponding to the M conveying devices, wherein the instances corresponding to the conveying devices belonging to the same device type are generated by the same function block; each of the instances has a uniformly defined interface;

[0022] The programmable logic controller comprises:

[0023] The receiving module is used to receive the task data sent by the host computer; the task data includes the destination and material information;

[0024] Execution module for:

[0025] Determine a material conveying path according to the destination; the material conveying path includes at least one instance among the M instances;

[0026] Invoke each instance in the material conveying path to convey materials, and transfer the task data in the material conveying path;

[0027] The instance is used for: updating and recording the current device state according to the input data and the recorded device state, and outputting output data for realizing material conveying; the input data and the output data are transmitted through the interface.

[0028] A conveying management device includes a memory and a processor. Computer-readable instructions are stored in the memory. When the processor executes the computer-readable instructions, the steps of the conveying management method described in any one of the above are implemented.

[0029] A computer-readable storage medium stores computer-readable instructions. When the computer-readable instructions are executed by a processor, the steps of the conveying management method described in any one of the above are implemented.

[0030] It can be seen that in the embodiments of the present invention, the conveying devices are classified into multiple device types. Each device type corresponds to a functional block, and instances corresponding to the conveying devices of the same device type can be generated based on the functional block. When each instance is invoked, it will update and record the current device state according to the input data and the recorded device state, and output output data for realizing material conveying. Since the instances corresponding to the conveying devices of the same device type are generated by the same functional block, in this way, the same functional block can be reused for the same type of devices, and there is no need to develop a functional block for each conveying device, so repetitive operations can be effectively reduced. Description of the Drawings

[0031] Figure 1 It is an exemplary structure of a conveying system provided by an embodiment of the present application;

[0032] Figure 2 It is a schematic diagram of a material conveying path provided by an embodiment of the present application;

[0033] Figure 3 It is an exemplary flowchart of a conveying management method provided by an embodiment of the present application;

[0034] Figure 4 It is a schematic diagram of an assembly line composed of conveying devices provided by an embodiment of the present application;

[0035] Figure 5 It is an exemplary structure of a linear conveyor provided by an embodiment of the present application;

[0036] Figure 6Exemplary structure of the instrument carrier provided by the embodiment of the present application;

[0037] Figure 7 Exemplary process of material transportation executed by the example provided by the embodiment of the present application;

[0038] Figure 8 Exemplary process of interaction between examples provided by the embodiment of the present application to achieve material transportation;

[0039] Figure 9 Exemplary process of initialization and detection provided by the embodiment of the present application;

[0040] Figure 10 Another exemplary process of initialization and detection provided by the embodiment of the present application;

[0041] Figure 11 Exemplary structure of the transportation management device provided by the embodiment of the present application;

[0042] Figure 12 Hardware architecture example diagram of the transportation management device according to the present application;

[0043] Figure 13 Schematic diagram of the interface connection relationship and functions provided by the embodiment of the present application. Detailed implementation manners

[0044] For the sake of citation and clarity, the technical terms, abbreviations or acronyms used hereinafter are summarized as follows:

[0045] PLC: Programmable Logic Controller, a programmable logic controller; PLC is a digital computing operation electronic system designed specifically for application in industrial environments;

[0046] FB: Function Block, a function block. FB is a special Function function with a DB background data block; a function block is a code block; FB is similar to a class in a high-level language, which contains internal processing logic, local variables and other background data, and external interfaces. Each call of the block is similar to instantiating a class;

[0047] DB: DataBlock, a data storage area, also known as an instance data block, similar to the relational table structure in a database; the DB can contain defined interfaces and device status;

[0048] Instance: The call of FB is called an instance. Each instance of FB requires a background data block, which contains instance-specific values of the formal parameters declared in the FB.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and claims of this application or the above drawings are used to distinguish different objects and not to describe a specific order.

[0050] The present invention provides a conveying management method, a conveying management device, a conveying system, and a computer-readable storage medium to solve the problem of excessive repetitive work.

[0051] Figure 1 An exemplary structure of the above-mentioned conveying system is shown, which may include a conveying management device (generally a PLC) and a plurality of conveying devices. The above-mentioned conveying management method is executed by the PLC.

[0052] It should be noted that Figure 1 Only one PLC is shown, but in other embodiments of the present invention, the above system may include a plurality of PLCs, and each PLC can manage a plurality of conveying devices and execute the conveying management method provided by the embodiments of the present invention.

[0053] The conveying devices are mainly used to convey pallets, and the pallets carry materials. The number of conveying devices varies according to the scale of the system. For example, it can be 800, 1600, etc. Hereinafter, M is used to represent the total number of conveying devices.

[0054] Furthermore, among the conveying devices, linear conveyors and transfer machines account for the majority. In addition, it also includes tray folding machines, elevators, tray disassembling machines, rotary tables, etc.

[0055] Figure 5 An exemplary structure of a linear conveyor is shown. If the linear conveyor is divided into four directions of 1, 2, 3, and 4, Figure 5 The shown linear conveyor can realize the entry of materials (pallets) from direction 1 and the exit from direction 3. Of course, other linear conveyors may also realize the entry of materials from direction 2 and the exit from direction 4, or the entry from direction 3 and the exit from direction 1, etc. It can be seen that the linear conveyor has the function of conveying materials in a single direction.

[0056] Figure 6 An exemplary structure of a transfer machine is shown, still taking the four directions of 1, 2, 3, and 4 as an example. Figure 6The shown transfer machine can enable materials to enter from directions 1 and 2 and be sent out in direction 4. Of course, other linear conveyors may also enable materials to enter from directions 4 and 3 and be sent out in direction 1, or enter from directions 1 and 4 and be sent out in direction 2, and so on. It can be seen that the transfer machine can realize the functions of splitting and merging flows and changing the logistics direction.

[0057] Of course, in addition to the above four directions, those skilled in the art can also design different directions for classification, for example, divided into eight directions, which will not be elaborated here.

[0058] In practice, conveyor equipment is often assembled into a conveyor line (conveyor channel / road) to achieve the conveyance of materials. For example, please refer to Figure 4 , a row of equipment such as 250, 251, 252, and 277 is assembled into a conveyor line (which can be called conveyor line 1), and equipment numbered 247 - 249 is assembled into a conveyor line (which can be called conveyor line 2). These two conveyor lines are connected by equipment numbered 250. Equipment numbered 274 - 276 is assembled into another conveyor line (which can be called conveyor line 3), and conveyor line 3 is connected to conveyor line 1 by equipment numbered 277. Equipment numbered 262 - 264 is also assembled into a conveyor line (which can be called conveyor line 4), and conveyor line 4 is connected to conveyor line 1 by equipment numbered 265.

[0059] Specifically, Figure 4 in [reference], equipment numbered 247, 248, and 252 are linear conveyors used to achieve the conveyance of materials in a single direction. Equipment numbered 250, 265, and 277 are transfer machines used to realize splitting and merging flows and changing the logistics direction. Taking equipment numbered 250 as an example, materials can be transferred from equipment numbered 247 on conveyor line 2 to equipment numbered 250, and then be redirected by equipment numbered 250 and enter conveyor line 1. Materials on other conveyor lines can also be conveyed onto conveyor line 1.

[0060] In some more complex cases, it can also be stratified in height, and there is a conveyor line on each layer. Materials can be lifted to each layer by a hoist.

[0061] Generally, each conveyor equipment includes sensors (such as in - place sensors) and actuators (such as motors).

[0062] Taking the in - place sensor as an example, it can be installed at the junction (or near the junction) of this conveyor equipment and the downstream conveyor equipment. When the pallet is transferred to the position where the in - place sensor is located, the in - place sensor can be triggered to send out a sensing signal. The in - place sensor can specifically be: a photoelectric sensor, an infrared sensor, a limit switch, etc. As long as it can detect the presence of an object at a certain position, it is applicable to this application.

[0063] Next, in combination with sensors and actuators, let's talk about the management of conveyor equipment by the PLC again.

[0064] From a hardware perspective, there is a hardware interface between the PLC and the conveying equipment. The information collected by the sensors of the conveying equipment is transmitted to the PLC via the hardware interface. The PLC processes the information collected by the sensors and then outputs different operation control signals to the motor via the hardware interface to instruct the motor to perform different operations, such as starting or stopping, operating at a certain speed, etc. It should be noted that there is no information interaction between the conveying equipment.

[0065] From a software perspective, there is a corresponding instance resident on the PLC for each conveying equipment. For example, if there are 800 conveying equipment, then 800 instances are resident on the PLC.

[0066] There is a main program running in the PLC. The main program can call the instances, and the instances generate the above-mentioned operation control signals based on sensor information, task data (task data will be introduced later), etc. The operation control signals are transmitted to the corresponding conveying equipment via the main program and the hardware interface of the PLC.

[0067] The instances are generated by the FB. In the traditional method, an FB is developed for each conveying equipment and stored in the PLC, and the instances also reside in the PLC. That is to say, assuming there are 500 conveying equipment, then 500 FBs will be maintained in the PLC, and 500 instances will be resident.

[0068] Because the number of conveying equipment is huge, this brings a great deal of workload to the development and debugging process of the PLC.

[0069] According to the introduction of the aforementioned conveying pipeline, many devices have the same or similar functions. For example, devices No. 247, 248, and 252 can achieve the function of single-direction material conveying. Devices No. 250, 265, and 277 can achieve the functions of splitting and merging, and turning the logistics direction. It can be seen that there are a large number of conveying equipment with the same functions in the conveying system, which is suitable for modular programming.

[0070] Therefore, in the development and debugging stage, M conveying equipment can be divided into multiple device types. In the following text of this article, N represents the total number of device types, and N is a positive integer greater than or equal to 2.

[0071] After dividing the types, an FB is developed for each device type. The instances corresponding to the conveying equipment belonging to the same device type are generated by the same FB, and each instance has a uniformly defined interface.

[0072] Please refer to Figure 1 , assuming that the conveying equipment A1 - Ax (x represents any positive integer) belongs to the same type, and its corresponding instances A1 - Ax are generated by the same FB; similarly, Figure 1The conveying devices B1-By (where y represents any positive integer) in it belong to the same type, and their corresponding instances B1-By are generated by another FB.

[0073] Since the instances corresponding to the conveying devices of the same device type are generated by the same function block, in this way, the same function block can be reused for devices of the same type, without the need to develop a function block for each conveying device, so the repetitive operations can be effectively reduced.

[0074] Still taking 500 conveying devices as an example, assume that 400 conveying devices belong to device type 1, 80 conveying devices belong to device type 2, and the other conveying devices belong to device type 3. Then only three FBs for device types need to be developed, which effectively reduces the repetitive operations compared with developing 500 FBs traditionally.

[0075] When the system needs to be modified due to process adjustment, it is also possible to only make internal modifications to the FB. Based on this, the devices that call the instance are updated at one time, without the need to modify them one by one, avoiding the problems of a large amount of repetitive work and easy omissions.

[0076] The following introduces the specific division method. In an example, the conveying devices that meet the following two division conditions can be divided into the same device type:

[0077] (1) Devices with repetitive functions (the functions are the same or similar);

[0078] (2) A single storage location. This single storage location means that the number of storage locations of the conveying device needs to be the same, rather than meaning that there must be only one storage location. The storage location refers to the storage position of the pallet.

[0079] Taking the linear conveyor as an example, assume that there are 100 linear conveyors with one storage location and 5 linear conveyors with three storage locations. Although the 100 linear conveyors with one storage location and the 5 linear conveyors with three storage locations have similar functions, due to the different numbers of storage locations, they can be divided into two device types.

[0080] The classification obtained after this division can not only maximize the reusability, but also facilitate the information transfer of goods and the exception handling.

[0081] It should be noted that the value of the total number N of device types is not fixed. If all M conveying devices are linear conveyors with one storage location, then the value of N is 1. But if the M conveying devices include linear conveyors with different storage locations, instrument carriers, turntables, etc., then the value of N is not 1.

[0082] It should also be noted that the FB corresponding to the device type may contain multiple FBs with smaller functional granularities. Taking the FB corresponding to a certain elevator type as an example, it may encapsulate FBs with smaller functional granularities such as a basic conveyor and scheduling.

[0083] Next, based on the common aspects of the present invention described above, the embodiments of the present invention will be further described in detail.

[0084] Figure 3 An exemplary process of the above-mentioned transportation management method is shown, which at least includes the following steps:

[0085] S0: The PLC receives M instances corresponding to M transportation devices.

[0086] Here and below, S represents a step.

[0087] The above-mentioned M transportation devices belong to N device types. Each device type corresponds to an FB block, and the instances corresponding to the transportation devices belonging to the same device type are generated by the same function block.

[0088] The above-mentioned M instances and the FB corresponding to each device type are generated during the development and debugging phase.

[0089] An instance is a compiled executable file. After generating the instance, the developer can transfer the instance to the PLC. In addition, the FB will also be passed into the PLC.

[0090] At the same time, each instance has a uniformly defined interface and interaction form. That is, the FBs corresponding to different device types are defined with a unified interface and interaction form. In this way, multiple people can be assigned to develop FBs simultaneously to speed up the development progress.

[0091] In addition, during the development and debugging phase, the corresponding relationship between each instance and the transportation device has also been configured.

[0092] Therefore, step S0 can be executed during the development and debugging phase. In addition, after the transportation system is officially running, if the transportation system is expanded, for example, from a scale of 800 transportation devices to 1000 transportation devices. Then, 200 instances corresponding to 200 newly added transportation devices will also be added to the PLC. In this case, the PLC can receive 200 instances corresponding to 200 transportation devices. It should be noted that the above 200 instances are also generated according to the FB of the device type to which the newly added transportation devices belong, which will not be elaborated here. That is, step S0 can also be used in the system expansion scenario after the official operation.

[0093] S1: The PLC receives the task data sent by the host computer;

[0094] The task data includes: destination and material information.

[0095] In one example, the material information may include, but is not limited to: pallet number, material category, unit (box / package / bottle, etc.), quantity, etc.

[0096] Taking 20 boxes of milk as an example, assuming that they are carried on pallet No. 0001, the material information exemplarily includes: 0001, milk (milk or other information used to characterize milk), box, 20.

[0097] The pallet number can be obtained through a barcode scanning device that is connected to the host computer. Other information such as material category can be obtained by the host computer from the inventory management system. The host computer can use the destination and material information to generate a task package (i.e. task data) and send it to the PLC.

[0098] S2: PLC determines the material transportation path according to the destination;

[0099] Assuming that one shipment is required at Port 5, then Port 5 is the destination.

[0100] The material transport path includes at least one instance among the M instances. The material transport path here is a virtual path, or a logical path. The transport device corresponding to the last instance in the material transport path is the destination, or the device closest to the destination among the multiple transport devices.

[0101] As described above, conveying equipment can be assembled into a conveying line. In one example, the PLC can determine the conveying equipment that the conveyed material actually passes through (that is, determine the real conveying path) based on the position of the conveying equipment, the connection relationship between the conveying equipment, etc. Since the conveying equipment corresponds to the instance one by one, it is further possible to determine the instance corresponding to each conveying equipment in the real conveying path, that is, determine the virtual material conveying path.

[0102] In another example, based on the actual location of the conveying equipment and the connection relationship between the equipment, the PLC can maintain the upstream and downstream relationship between each instance. Then, the material conveying path can be directly determined according to the destination and the upstream and downstream relationship.

[0103] In the case of a large-scale transportation system, there may be multiple paths that can reach the destination, and the PLC can select the best path as the material transportation path. The basis for selection can be the shortest distance, the smallest instance passed, etc. It should be understood that the examples of how to obtain the optimal path here are only for the convenience of understanding and are not used to limit this application.

[0104] It should be noted that the upstream and downstream relationship between each instance in the material conveying path may be a static upstream and downstream relationship or a dynamic upstream and downstream relationship.

[0105] by Figure 4Take the conveying line shown as an example, where the upstream of device 248 is device 247, and the downstream is device 249. Since it is a straight line conveying, the upstream and downstream relationship of device 248 will not change, which is a static upstream and downstream relationship. Assuming that devices 247-249 correspond to instances 1-3, the upstream and downstream relationship between instances 1-3 can be directly configured in the PLC with static configuration information.

[0106] In addition, it is also introduced above that the conveying system can be layered in height, and the materials can be lifted to each layer by the elevator. For the elevator, it works on the first layer and can form an upstream and downstream relationship with other conveying equipment on the first layer. It works on the second layer and can form an upstream and downstream relationship with other conveying equipment on the second layer. That is, the upstream and downstream relationship between the elevator and other equipment is dynamically changing.

[0107] S3: Call each instance in the material transport path to perform material transport, and pass task data in the material transport path.

[0108] The instance can drive the corresponding conveying equipment to carry out material conveying (pallet conveying), and the task data is transferred between the instances in the material conveying path, so that the task data can be synchronously transferred between the instances along with the material transfer.

[0109] Figure 2 A schematic diagram of task data and pallet conveying is shown. Assuming that the material conveying path contains instances A1, A2, A3, and A4, which correspond to conveying equipment B1, B2, B3, and B4 respectively, the transfer path of the pallet is: conveying equipment B1->conveying equipment B2->conveying equipment B3->conveying equipment B4, and the transfer path of the task data is: instance A1->instance A2->instance A3->instance A4.

[0110] In one example, steps S1-S3 may be specifically executed by a main program in a PLC.

[0111] The material conveying operation performed by the example at least includes the following steps S4 and S5.

[0112] S4: The instance updates and records the current device status based on the input data and the recorded device status.

[0113] Exemplary equipment states include initial, idle, incoming, in place, outgoing, etc. In general, the current equipment state starts from the initial state and is updated to idle, incoming, in place, outgoing in sequence. After the outgoing is completed, it returns to the initial state. This article will further introduce the equipment state in detail later.

[0114] The input data is described below.

[0115] The input data of any instance may include at least one of the following data:

[0116] 1) Task data;

[0117] 2) Target sensor signal;

[0118] The target sensor signal here includes: the sensing signal from the target sensor.

[0119] The target sensor includes: a sensor for collecting information on the conveying device corresponding to any one of the instances. For example, the in-position sensor mentioned above. For instance, instance A corresponds to conveying device 1, and instance B corresponds to conveying device 2. Then, the in-position sensor of conveying device 1 is the target sensor of instance A, and its sensing signal is the target sensing signal of instance A. Similarly, the in-position sensor of conveying device 2 is the target sensor of instance B, and its sensing signal is the target sensing signal of instance B. However, the in-position sensor of conveying device 1 is not the target sensor of instance B, and the in-position sensor of conveying device 2 is not the target sensor of instance A either.

[0120] 3) Interaction signal.

[0121] Any interaction signal comes from upstream or downstream. It should be noted that the interaction signal is not sent to the conveying device.

[0122] Specifically, the interaction signal may include: a request signal from upstream and a response signal from downstream.

[0123] In some cases, upstream and downstream may specifically be instances.

[0124] Taking Figure 2 instance A2 in

[0125] as an example, its upstream is instance A1, and its downstream is instance A3. The signals sent by instance A1 and instance A3 to instance A2 are both interaction signals.

[0126] Taking Figure 2 instance A1 in

[0127] as an example, it is the starting point of the material conveying path. Instance A1 may obtain task data or interaction signals from the main program or other programs / systems / devices (such as the upper computer). Then, at this time, its upstream may be the main program or other programs / devices. Figure 2 Similarly,

[0128] if the conveying device corresponding to instance A4 in Figure 2 is the destination or the device closest to the destination, then instance A3 may need to return information to the main program or need to interface with other programs / systems / devices (such as the upper computer or the inventory management system or other logistics conveying systems). Then, the downstream of instance A4 may be the main program or other programs / systems / devices.S5: Output the output data for material transportation.

[0129] The output data of any instance may include at least one of the following data:

[0130] 1) Operation control signal;

[0131] The operation control signal is used to instruct the conveying device corresponding to the instance to perform corresponding operations; the operation control signal includes, but is not limited to, one or more of a start signal, a stop signal, an indication signal for operating at a certain speed, an acceleration signal, a deceleration signal, etc.

[0132] 2) Response signal for the upstream;

[0133] 3) Request signal for the downstream;

[0134] The response signal for the upstream and the request signal for the downstream also belong to the interaction signals.

[0135] For the relevant descriptions of the upstream and the downstream, please refer to the input data part, which will not be elaborated here.

[0136] The input data and the output data can be transmitted through the above uniformly defined interface.

[0137] It can be seen that in the embodiments of the present invention, the conveying devices are divided into multiple device types. Each device type corresponds to a function block, and instances corresponding to the conveying devices of the same device type can be generated based on the function block. When each instance is called, the current device state will be updated and recorded according to the input data and the recorded device state, and in addition, the output data for realizing material transportation will be output. Since the instances corresponding to the conveying devices of the same device type are generated by the same function block, in this way, the same function block can be reused for the same type of devices, and there is no need to develop a function block for each conveying device, so the repetitive operations can be effectively reduced.

[0138] Next, the interface and the device state will be introduced in detail.

[0139] As mentioned above, the conveying device can be divided into having multiple directions (for example Figure 5 and Figure 6 the four directions shown). Correspondingly, each instance has at least the aforementioned interfaces in the target direction. Any target direction corresponds to the upstream or downstream of the instance.

[0140] For example, please refer to Figure 4 , Device No. 248 is connected to Device No. 247 in the 1 direction and is connected to Device No. 249 in the 3 direction. Then, the 1 and 3 directions are the target directions of Device No. 248 (and its corresponding instance).

[0141] If we observe device No. 250, which is connected to device No. 249 in direction 1, to device No. 252 in direction 2, and to device No. 251 in direction 4, then directions 1, 2, and 4 are the target directions of device No. 248 (and its corresponding instances).

[0142] It can be seen that the target directions are determined based on the actual upstream and downstream relationships of the conveying devices. Interfaces may not be defined in other directions except the target directions.

[0143] In other embodiments of the present invention, the interface of any of the above instances (the interface in any target direction) at least includes: a digital input interface a, a communication interface (further including an upstream communication interface b and a downstream communication interface c), and a control signal output interface d;

[0144] Please refer to Figure 13 , and the connection relationships and functions of each interface are as follows:

[0145] 1), The digital input interface a is used to obtain the target sensor signal from the physical digital input interface A of the PLC;

[0146] The form of the target sensor signal is digital. Other descriptions of the target sensor signal can be found in the foregoing introduction and will not be elaborated here.

[0147] 2), The upstream communication interface b is used for this instance to interact with the upstream.

[0148] For the description of the upstream, please refer to the foregoing records. In Figure 13 , the upstream is specifically the upstream instance. The upstream communication interface b of a certain instance is connected to the downstream communication interface c of its upstream instance. It is used to transmit the foregoing interaction signals.

[0149] The upstream communication interface may further include: a first input communication interface and a first output communication interface. Among them, the first input communication interface is used to receive the request signal from the upstream, and the first output communication interface is used to transmit the response signal to the upstream.

[0150] 3), The downstream communication interface c is used for this instance to interact with the downstream.

[0151] For the description of the downstream, please refer to the foregoing records. In Figure 13 the downstream is specifically the downstream instance. The downstream communication interface c of a certain instance is connected to the upstream communication interface b of its downstream instance. It is used to transmit the foregoing interaction signals and task data.

[0152] The downstream communication interface may further include: a second input communication interface and a second output communication interface. Among them, the second input communication interface is used to receive the response signal from the downstream, and the second output communication interface is used to transmit the request signal to the downstream.

[0153] 4) The control signal output interface d is connected to the physical control signal output interface D of the PLC.

[0154] The control signal output interface d is used to send operation control instructions to the conveying equipment corresponding to any one of the instances via the physical control signal output interface D.

[0155] Some types of PLCs have INPUT type input interfaces and OUTPUT type output interfaces. Then the aforementioned digital input interface, the first input communication interface, and the second input communication interface are INPUT type input interfaces, and the aforementioned first output communication interface, the second output communication interface, and the control signal output interface are OUTPUT type output interfaces.

[0156] For the case where the conveying equipment is divided into multiple directions, each instance has at least an INPUT type input interface and an OUTPUT type output interface in the target direction.

[0157] Take Figure 4 Devices No. 247 and No. 248 as an example. Device No. 248 is docked with the 3rd direction of device No. 247 in the 1st direction. Assume that devices No. 247 and No. 248 correspond to instances 247 and 248 respectively. The second input communication interface of instance No. 247 in the 3rd direction is denoted as I_Q03 (where the first letter I represents the INPUT type, 03 represents the 3rd direction, the second letter Q represents that this direction is the material outflow direction, and I_Q03 as a whole represents the input interface for docking with other devices when the 03rd direction is used as the material outflow direction), the second output communication interface is denoted as O_Q03 (where O represents the OUTPUT type, and O_Q03 as a whole represents the output interface for docking with other devices when the 03rd direction is used as the material outflow direction), the first input communication interface of No. 248 in the 1st direction is denoted as I_I01 (where the first letter I represents the INPUT type, 01 represents the 1st direction, the second letter I represents that this direction is the material inflow direction, and I_I01 as a whole represents the input interface for docking with other devices when the 01st direction is used as the material inflow direction), and the first output communication interface is denoted as O_I01 (O_I01 as a whole represents the output interface for docking with other devices when the 01st direction is used as the material inflow direction).

[0158] The INPUT and OUTPUT interfaces in each direction are independent of each other, which can avoid problems caused by reading and writing the same data in multiple FBs.

[0159] It was also mentioned above that the upstream and downstream relationships between instances can be static upstream and downstream relationships and dynamic upstream and downstream relationships. Below, in combination with the interfaces, a detailed introduction will be given on how to achieve data transfer between static or dynamic upstream and downstream instances.

[0160] For the sake of distinction, the upstream and downstream instances are referred to as first instances and second instances. The upstream and downstream instances can communicate bidirectionally, that is, the upstream can transmit information to the downstream, and the downstream can also transmit information to the upstream.

[0161] In order to realize the transmission of information from upstream to downstream, for static upstream and downstream relationships, the OUTPUT type output interface of the first instance can be assigned to the INPUT type input interface of the second instance through static configuration information. Taking the aforementioned interface O_Q03 and interface I_I01 as an example, the static configuration information can be exemplified as: "I_I01 = O_Q03", so that O_Q03 (i.e., OUTPUT type output interface) of instance 247 (corresponding to the first instance) can be assigned to I_I01 (i.e., INPUT type output interface) of instance 248 (corresponding to the second instance). Then, during the transmission process, all information outputted by interface O_Q03 of instance 247 will be assigned as input information of interface I_I01 of instance 248.

[0162] Similarly, in order to realize the transmission of information from downstream to upstream, for static upstream and downstream relationships, the INPUT type input interface of the first instance can be assigned to the OUTPUT type output interface of the second instance through static configuration information. Taking the aforementioned interface O_I01 and interface I_Q03 as an example, the configuration information can be exemplarily O_I01=I_Q03. In this case, during the transmission process, all information output by interface I_Q03 of instance 248 will be assigned as input information of interface O_I01 of instance 247, which will not be elaborated here.

[0163] The above static configuration information can be maintained in the background data block, so that the interface can be directly bound through the background data block.

[0164] As for the dynamic upstream and downstream instances, illustratively, data transfer can be achieved through relationship lists and pointer indexes.

[0165] The relationship list defines all the upstream and downstream relationships that can be selected for an instance.

[0166] Take elevator A as an example, it can work in 1-X layers (X is an integer not less than 2). The FB corresponding to the elevator A can encapsulate FBs with smaller functional granularity such as basic conveyors and scheduling. The generated instance A has scheduling functions and basic conveyor functions. The scheduling function can be used to realize data transmission.

[0167] The relationship list of instance A may include: the upstream and downstream relationships between instance A and other instances on each layer. These upstream and downstream relationships are determined based on the actual downstream relationship between elevator A and other conveying equipment on each layer.

[0168] Generally speaking, the function of the elevator on each floor is configured similar toFigure 5 The single - segment linear conveyor shown, that is, generally there is material input and output in the 1 and 3 directions.

[0169] Assume that the elevator A is docked with the 03 direction of the linear conveyor B in the 01 direction on the first floor, and the elevator A is docked with the 01 direction of the linear conveyor C in the 03 direction on the second floor, and assume that the equipment (instance) numbers of the linear conveyor B and the linear conveyor C are 1201 and 1202. Then the relationship list of instance A can be defined as: on the first floor, the 01 direction corresponds to the 03 direction of the number 1201; on the second floor, the 03 direction corresponds to the 01 direction of the number 1202, and so on.

[0170] Of course, it is possible to assign different instance numbers to the elevator A on different floors, that is, there will be sub - instances A1, A2... AX under instance A, each sub - instance corresponds to one floor and has its own number. Then the relationship list of instance A can be further defined to include: on the first floor, the 01 direction of A1 corresponds to the 03 direction of the number 1201; on the second floor, the 03 direction of A2 corresponds to the 01 direction of the number 1202, and so on, without further elaboration.

[0171] Each instance's data will have a corresponding storage address (which can be called a pointer index). The pointer index can be understood as the pointer index of the aforementioned communication interface, and it can be obtained by querying according to the number.

[0172] Assume that the current floor is the first floor and it is necessary to output an interaction signal or task data to the instance 1201 on the first floor. The scheduling function of instance A can query the 03 direction corresponding to the number 1201 on the first floor according to the relationship list.

[0173] Then, the scheduling function can query the pointer index corresponding to the number 1201. After querying, the scheduling function writes the interaction signal or task data into the input array in the 03 direction of this pointer index, so as to realize outputting data to the instance 1201 on the first floor.

[0174] For the data from the instance 1201, the instance 1201 can write the data into the input array of instance A in the 01 direction, so as to realize receiving the input data of the instance 1201 on the first floor.

[0175] In other embodiments of the present invention, the interface structures of the upstream communication interface and the downstream communication interface both include 3 variables. In one example, the variable can be a Bool - type variable. In addition to the Bool - type variable, it can also be other types of variables, such as INT type, which will not be elaborated here.

[0176] Each variable represents an interaction signal, and the 3 variables include:

[0177] DTR: Request to enter the lower level;

[0178] ATR: Allow superior access;

[0179] FTR: Complete transportation.

[0180] Subsequent to this, the signals will be referred to as DTR signal, ATR signal, and FTR signal. The aforementioned response signals include ATR signal and FTR signal, and the aforementioned request signal includes DTR signal.

[0181] Continuing with the previous example, the DTR signal output through interface O_Q03 can be expressed as O_Q03.DTR, and the DTR signal input through interface I_I01 can be expressed as I_I01.DTR. Since interface O_Q03 and interface I_I01 are bound together, when instance 247 outputs O_Q03.DTR, instance 248 will receive I_I01.DTR. Similarly, the ATR signal output through interface O_I01 can be expressed as O_I01.ATR, and the ATR signal input through interface I_Q03 can be expressed as I_Q03.ATR. Since the two interfaces are bound, when instance 248 outputs O_I01.ATR, instance 247 will receive I_Q03.ATR.

[0182] The following describes the device status. As previously mentioned, the device status includes initial, idle, incoming goods, in place, outgoing goods, etc.

[0183] In other embodiments of the present invention, the device status of any conveying device can be represented by different values of an INT type variable. Among them, the different values include:

[0184] a: Represents the initial state;

[0185] b: Represents idle;

[0186] xc: Represents incoming goods in the x direction;

[0187] d: Represents in place;

[0188] ye: Represents outgoing goods in the y direction;

[0189] Among them, x and y represent any direction, and a, b, c, d, and e represent different states.

[0190] Taking Figure 5 the four directions 1, 2, 3, and 4 shown as an example, the value ranges of x and y include four symbols representing different directions. For example, they can be integers 1 - 4, A - D, etc.

[0191] a, b, c, d, and e can be any integers or characters as long as they are not equal to each other.

[0192] In one example, since the controller of the PLC needs to be processable, INT type variables can be used to describe the device status in an enumerated manner. Exemplarily, the INT type variables can be referred to the following list:

[0193]

[0194]

[0195] All interfaces and device statuses can be included in the aforementioned background data block.

[0196] In addition, in other embodiments of the present invention, multiple background calls can also be designed: a conveying system is divided into multiple partitions, and each partition has multiple conveying devices. For each partition, an FB (which can be called a district-level FB) can be designed, and the FB corresponding to each device type within the partition (which can be called a type-level FB) is included in the district-level FB. A large instance is generated using the district-level FB, and this large instance contains the instances corresponding to all the conveying devices in the corresponding partition. Of course, the instances corresponding to all the conveying devices in the partition are generated based on the type-level FBs in the district-level FB. Through multiple background calls, a large amount of global background data can be reduced, facilitating the unified management of instance objects, i.e., background data.

[0197] Next, in combination with the device status and interaction information specifically introduced above, how a certain instance realizes material conveying and transfers task data in the material conveying path will be described in detail.

[0198] Please refer to Figure 7 and Figure 8 , which show the exemplary specific implementation processes of steps S14 and S5 executed by the instance in Figure 3 , including:

[0199] S701: When the current device status is the idle state, receive the request to enter the lower-level signal (i.e., the DTR signal) sent by the upstream;

[0200] Regarding the description of the upstream, reference can be made to the foregoing records, which will not be elaborated here.

[0201] More specifically, in the case of using INT type variables to enumerate and describe the device status, taking the device No. 247 and device No. 248 shown in Figure 4 as examples, it is assumed that device No. 247 and device No. 248 correspond to instance 247 and instance 248 respectively.

[0202] When the pallet (material) is conveyed from device No. 247 to device No. 248, if the current device status of instance 248 is 1 (idle state), then instance 248 receives the DTR signal from instance 247. At this time, the current device status of instance 247 is 3 (in-place state).

[0203] S702: Send an upstream permission signal for the superior to enter (i.e., the ATR signal);

[0204] For the description of the upstream, refer to the foregoing records and will not be elaborated here.

[0205] Following the previous example, after Instance 248 receives the DTR from Instance 247, it replies with ATR to Instance 247. After Instance 247 obtains the ATR, it changes the current state to 34 (indicating shipment in the 3 direction).

[0206] S703: Send a drive signal to the local conveying device and change the current device state from the idle state to the feeding state;

[0207] Among them, the conveying device corresponding to the called instance can be referred to as the local conveying device.

[0208] Following the previous example, Instance 248 sends a drive signal to Device No. 248 and changes the current device state from 1 to 12 (indicating feeding in the 1 direction).

[0209] S702 and S703 can be executed in parallel or serially in any order, which will not be elaborated here.

[0210] In this step, the drive signal is used to start the motor of the local conveying device, and the drive signal belongs to one of the foregoing operation control signals.

[0211] In addition, a control signal for operating at a certain rotational speed can also be sent to the local conveying device, and this control signal also belongs to an operation control signal.

[0212] Operation control signals such as the drive signal can be transmitted to the local conveying device via the main program and the hardware interface of the PLC.

[0213] S704: Receive the task data sent by the upstream.

[0214] Following the previous example, after Instance 247 receives the ATR, it can send task data to Instance 248, and then Instance 248 receives the task data of Instance 247.

[0215] For the relevant descriptions of the upstream and the task data, refer to the foregoing records and will not be elaborated here.

[0216] In other embodiments of the present invention, the upstream can also send the DTR signal and the task data simultaneously.

[0217] S705: When receiving the sensing signal sent by the in-place sensor of the local conveying device, stop sending the drive signal to the local conveying device and change the current device state from the feeding state to the in-place state;

[0218] The in-place sensor is usually installed at or near the junction of the current conveying equipment and the downstream (the downstream may be a conveying equipment or a device of a third-party system). When the tray is transported to the position where the in-place sensor is located, the in-place sensor can be triggered to send a sensing signal.

[0219] That is, when the in-place sensor signal is received, it indicates that the tray has reached the junction of the two conveying equipments. At this time, the rotation of the drive motor can be stopped.

[0220] Continuing with the previous example, after Instance 248 receives the in-place sensor signal of Equipment No. 248, it stops sending the drive signal to Equipment No. 248 and changes the current equipment status from 12 to 3.

[0221] S706: Send a completion conveying signal (i.e., FTR signal) to the upstream.

[0222] Continuing with the previous example, Instance 248 returns FTR to Instance 247.

[0223] S707: Send a request to enter the lower level signal (i.e., DTR signal) to the downstream;

[0224] For the description of the downstream, reference can be made to the foregoing records and will not be elaborated here.

[0225] Continuing with the previous example, the downstream of Instance 248 is Instance 249, and a DTR signal can be sent to Instance 249.

[0226] S706 and S707 can be executed in parallel or serially in any order, which will not be elaborated here.

[0227] S708: When the ATR signal from the downstream is received, change the current equipment status from the in-place state to the discharging state;

[0228] After receiving the ATR signal sent by the downstream, it indicates that the downstream is idle and discharging can be carried out, then the current equipment status will be changed to the discharging state.

[0229] Continuing with the previous example, after Instance 248 receives the ATR signal, it changes the current equipment status from 3 to 34 (discharging in the 3 direction).

[0230] S709: Transmit the above task data to the downstream;

[0231] In this way, the transfer in the material conveying path can be realized.

[0232] Continuing with the previous example, Instance 248 transmits the task data to Instance 249.

[0233] S710: When the FTR signal from the downstream is received, clear the above task data.

[0234] After receiving the FTR signal from the downstream, it indicates that the pallet has been handed over to the downstream, and the downstream has transported the pallet to its own in-position sensor. The conveying work of the current-level conveying equipment has been completed, and the task data can be cleared.

[0235] Continuing with the previous example, after Instance 248 receives the FTR signal, it clears the task data.

[0236] It should be noted that the signal and task data are transmitted between instances through the aforementioned upstream and downstream communication interfaces.

[0237] Taking S701 - S702 as an example, as previously mentioned, Instance 247 has interface I_Q03 and interface O_Q03 in the 3 direction, and Instance 248 has interface I_I01 and interface O_I01 in the 1 direction.

[0238] When the device status of Instance 248 is 1, when Instance 247 drives O_Q03.DTR, Instance 248 will receive I_I01.DTR. When Instance 248 drives O_I01.ATR, Instance 247 will receive I_Q03.ATR. At this time, it indicates that the downstream allows conveying, and the current device of Instance 247 can be switched from 3 to 34 to start shipping.

[0239] Of course, the above example realizes data transmission based on a static upstream and downstream relationship. For data transmission based on a dynamic upstream and downstream relationship, reference can be made to the foregoing description, and details are not elaborated herein.

[0240] The interaction between instances in other steps is similar, and details are not elaborated herein.

[0241] In other embodiments of the present invention, before step S701 or after S710, the instance will be initialized. After initialization, detection will be performed. The detection may include: detecting whether the target sensor is normal, and whether the idle condition is met. When the target sensor is normal and the idle condition is met, the current device status can be changed from the initialization state to the idle state.

[0242] In one example, the idle condition at least includes: no material is detected.

[0243] Then please refer to Figure 9 , the initialization and detection may specifically include the following steps:

[0244] S901: Change the current device status to the initialization state;

[0245] S902: Detect whether the target sensor itself is normal. If not, go to S903; otherwise, go to S904;

[0246] Exemplarily, the target sensor may include the aforementioned in-position sensor, and details are not elaborated herein.

[0247] S903: Determine whether a sensing signal sent by the in - place sensor is received; if so, proceed to S904, if not, proceed to S700;

[0248] S700: Change the current device state from the initialization state to the idle state. Proceed to S701;

[0249] S904: Raise an alarm;

[0250] Specifically, a sensor status exception signal can be output for alarm.

[0251] Steps S903 to S904 are mainly used to determine whether a material is detected.

[0252] During the conveying process, if the pallet is transferred to the position where the in - place sensor is located, the in - place sensor can be triggered to send a sensing signal. Therefore, if the signal from the in - place sensor is received, it indicates that an object is detected at the in - place sensor, and there may be a material. At this time, it is not applicable to enter the idle state, and an alarm can be given so that maintenance personnel can intervene.

[0253] In another example, the idle condition may also include: the task data has been cleared.

[0254] Then please refer to Figure 10 , the initialization and detection may specifically include the following steps:

[0255] S101: Change the current device state to the initialization state;

[0256] S102: Detect whether the target sensor itself is normal. If not, proceed to S103, otherwise, proceed to S104;

[0257] Exemplarily, the target sensor may include the aforementioned in - place sensor, which will not be elaborated here.

[0258] S103: Determine whether a sensing signal sent by the in - place sensor is received; if so, proceed to S104, if not, proceed to S105;

[0259] S105: Determine whether the task data has been cleared; if so, proceed to S700, if not, proceed to S106;

[0260] S106: Raise an alarm;

[0261] Specifically, a local data exception signal can be output for alarm.

[0262] S700: Change the current device state from the initialization state to the idle state. Proceed to S701.

[0263] Steps S103 to S104 are mainly used to determine whether a material is detected. Steps S105 to S106 are used to determine whether the task data is cleared.

[0264] Before transitioning to the idle state, it is necessary to ensure that there are no other tasks. Additionally, in some cases, there may be residual task data. For example, if the motor of a certain conveying device fails and the staff directly removes the tray on it for maintenance. After troubleshooting, there will be residual task data, which can be alarmed to enable maintenance personnel to intervene. It can be seen that in the example, when the target sensor is normal and no material is detected, it will further determine whether there is still task data that has not been cleared, so as to further know whether the current conveying device at this level is suitable for the next material conveyance.

[0265] 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 computer-readable instructions. The computer-readable instructions can be stored in a computer-readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), etc., or a Random Access Memory (RAM), etc.

[0266] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the arrows, these steps do not necessarily have to be executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and they can be executed in other orders. Moreover, at least some of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages do not necessarily have to be executed at the same time, but can be executed at different times. Their execution order does not necessarily have to be sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0267] Please refer to Figure 11 , as an implementation of the methods in all the above embodiments, the exemplary structure of the above-mentioned conveying management device will be introduced later in this application. It may include:

[0268] Receiving module 1, for: receiving task data sent by the host computer;

[0269] Descriptions of task data and the like can be found in the foregoing records and will not be elaborated here.

[0270] Execution module 2, for:

[0271] Determine the material conveying path according to the destination; the material conveying path includes at least one instance among M instances;

[0272] Invoke each instance in the material conveying path to perform material conveyance, and transfer task data in the material conveying path;

[0273] The invoked instance can be used to: update and record the current device status according to the input data and the recorded device status, and output output data for realizing material conveyance; the input data and output data are transmitted through the interface.

[0274] As mentioned above, the conveying management device can be implemented by a PLC. Each instance and the main program are resident in the PLC. The above receiving module 1 and execution module 2 can implement part or all of the functions of the main program. For example, the receiving module 1 can be used to execute step S1 of the foregoing embodiment, and the execution module 2 can be used to execute steps S2 - S3 in the foregoing embodiment.

[0275] In addition, in other embodiments, the receiving module 1 can also be used to receive M instances corresponding to M conveying devices. For specific details, refer to the introduction of step S0 above.

[0276] Any instance can execute Figure 3 steps S4 and S5 of the illustrated embodiment, Figure 7 and Figure 8 steps S701 - S710 of the illustrated embodiment, Figure 9 steps S901 - S904 and S700 - S710 of the illustrated embodiment, Figure 10 S101 - S106 and S700 - S710 of the illustrated embodiment.

[0277] For relevant descriptions, please refer to the foregoing records and will not be elaborated here.

[0278] Figure 12 Shows a general computer system structure of the above - mentioned conveying management device. The general computer system structure at least includes: a memory 310 and a processor 320 that are communicatively connected to each other through a system bus. In addition, a communication interface 330, an input device, an output device, etc. may also be included.

[0279] It should be noted that only the computer system structure with components 310 - 330 is shown in the figure. However, it should be understood that it is not necessary to implement all the shown components, and more or fewer components can be implemented alternatively. Among them, those skilled in the art of this technology can understand that the computer system structure here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0280] The above computer system structure can be an industrial control computer, a PLC, or even computing devices such as a desktop computer, a notebook, a palm computer, and a cloud server, etc., and it can perform human-computer interaction with users through ways such as a keyboard, a mouse, a remote control, a touchpad, or a voice control device.

[0281] The memory 310 includes at least one type of readable storage medium. The readable storage medium includes flash memory, a hard disk, a multimedia card, a card-type memory (such as an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 310 can be an internal storage unit, such as a hard disk or a memory. In other embodiments, the memory 310 can also be an external storage device, such as a plug-in hard disk equipped in a computing device, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0282] Of course, the memory 310 can also include both an internal storage unit and an external storage device. In this embodiment, the memory 310 is generally used to store programs or instructions for implementing the technical solution of the present invention and an operating system, etc. In addition, the memory 310 can also be used to temporarily store various types of data that have been output or will be output.

[0283] In some embodiments, the processor 320 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor 320 is generally used to control the overall operation of the computer system structure.

[0284] The communication interface 330 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0285] In this embodiment, the processor 320 is used to run the computer-readable instructions or process data stored in the memory 310, and call other devices to implement the transportation management method provided in all embodiments of the present application. Alternatively, the processor 320 is used to run the computer-readable instructions or process data stored in the memory 310, and call other devices to implement the functions of the aforementioned receiving module 1, execution module 2 and each instance.

[0286] The present application also provides another embodiment, namely, providing a computer-readable storage medium, which stores computer-readable instructions. The computer-readable instructions can be executed by at least one processor to enable the at least one processor to perform the steps of the transportation management method as described above.

[0287] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0288] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A conveying management method, characterized in that, it is applied to a programmable logic controller in a conveying system. The conveying system includes M conveying devices and the programmable logic controller, and the M conveying devices belong to N device types; wherein, N and M are positive integers, and M is greater than N; each device type corresponds to a type-level function block; there are M instances corresponding to the M conveying devices resident in the programmable logic controller, and among them, the instances corresponding to the conveying devices belonging to the same device type are generated by the same type-level function block; each of the instances has a uniformly defined interface; the conveying system is divided into multiple partitions, and each partition has multiple conveying devices; each partition corresponds to a district-level function block; the district-level function block includes the type-level FBs corresponding to each device type within the partition; the instances generated by the district-level function block include the instances corresponding to all the conveying devices in the corresponding partition; The method includes: Receiving task data sent by a host computer; the task data includes: a destination and material information; Determining a material conveying path according to the destination; the material conveying path includes at least one of the M instances; Invoking each instance in the material conveying path to perform material conveying and transmitting the task data in the material conveying path; the task data is transmitted between the instances in the material conveying path; Among them, the material conveying operation includes: Updating and recording the current device state according to the input data and the recorded device state, and outputting output data for realizing material conveying; the input data and output data are transmitted through the interface.

2. The method according to claim 1, characterized in that, Any conveying device is uniformly divided into multiple directions; each instance has the interface at least in the target direction, and any target direction corresponds to the upstream or downstream of the instance; the target direction is determined according to the actual upstream and downstream relationship of the any conveying device.

3. The method according to claim 1, characterized in that, The input data includes at least one of: task data, target sensor signals, and interaction signals; the target sensor signals include: sensing signals from the target sensors; the target sensors include: sensors for collecting information of the conveying device corresponding to the any instance; any one of the interaction signals comes from the upstream or downstream; The output data includes at least one of the following data: An operation control signal for instructing the conveying device corresponding to the any instance to perform corresponding operations; A response signal for the upstream; A request signal for the downstream; the response signal and the request signal belong to interaction signals.

4. The method according to claim 3, characterized in that, The interface of any instance includes at least: a digital input interface, an upstream communication interface, a downstream communication interface, and a control signal output interface; wherein: The digital input interface is used to obtain the target sensor signals from the physical digital input interface of the programmable logic controller; The upstream communication interface is used for the any instance to interact with the upstream; The downstream communication interface is used for interaction between this instance and the downstream; The control signal output interface is connected to the physical control signal output interface of the programmable logic controller, and is used to send operation control instructions to the conveying equipment corresponding to any instance via the physical control signal output interface.

5. The method according to claim 4, It is characterized in that The interface structures of the upstream communication interface and the downstream communication interface each include three variables, each variable represents an interactive signal, and the three variables include: DTR: request to enter the lower level; ATR: Allow access to superiors; FTR: Complete delivery.

6. The method according to any one of claims 1 to 5, It is characterized in that The conveying device corresponding to the called instance is the conveying device at this level; The method of updating and recording the current device status according to the input data and the recorded device status, and outputting the output data for realizing material transportation, specifically includes the following steps: If the current device state is an idle state, receiving a request to enter a lower level signal sent by an upstream; the request to enter a lower level signal is an interactive signal; At least sending a driving signal to the conveying device at this level, and changing the current device state from an idle state to a feeding state; the driving signal is an operation control signal; Sending a superior access permission signal to the upstream; the superior access permission signal is an interactive signal; Receiving the task data sent by the upstream; When receiving a sensing signal sent by the in-place sensor of the conveying device at this level, stop sending the driving signal to the conveying device at this level, and change the current device state from the feeding state to the in-place state; the target sensor includes the in-place sensor; Sending a transmission completion signal to the upstream, and sending a request to enter the next level signal to the downstream; the transmission completion signal is an interactive signal; When receiving the upper level entry permission signal sent by the downstream, the current equipment state is changed from the in-place state to the discharge state, and the task data is transmitted to the downstream; When the delivery completion signal sent by the downstream is received, the task data is cleared.

7. The method according to claim 1, It is characterized in that After material transport, the example is also used to: Change the current device state to the initialization state; When the target sensor is normal and meets the idle condition, the current device state is changed from the initialization state to the idle state; The idle condition at least includes: no material is detected and the task data is cleared.

8. A conveying system, It is characterized in that include: A programmable logic controller and M conveying devices connected to the programmable logic controller, wherein the M conveying devices belong to N device types; wherein N and M are positive integers, and M is greater than N; and each device type corresponds to a type-level function block; The programmable logic controller has M instances corresponding to the M conveying devices resident therein, where the instances corresponding to the conveying devices belonging to the same device type are generated by the same type-level function block; each of the instances has a uniformly defined interface; the conveying system is divided into multiple partitions, each partition having multiple conveying devices; each partition corresponds to a district-level function block; the district-level function block includes the type-level FBs corresponding to the device types within the partition; the instances generated by the district-level function block include the instances corresponding to all the conveying devices in the corresponding partition. The programmable logic controller includes: a receiving module, configured to: receive task data sent by a host computer; the task data includes: a destination and material information. an execution module, configured to: determine a material conveying path according to the destination; the material conveying path includes at least one of the M instances. invoke each instance in the material conveying path to perform material conveying and transfer the task data in the material conveying path; the task data is transferred between the instances in the material conveying path. The instance is configured to: update and record the current device state according to the input data and the recorded device state, and output output data for implementing material conveying; the input data and output data are transmitted through the interface.

9. A conveying management device, characterized in that it includes a memory and a processor, and computer-readable instructions are stored in the memory, and when the processor executes the computer-readable instructions, the steps of the conveying management method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that computer-readable instructions are stored on the computer-readable storage medium, and when the computer-readable instructions are executed by a processor, the steps of the conveying management method according to any one of claims 1 to 7 are implemented.

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