A Pusher Control Method, Device and Electronic Equipment at the Track Shifting Point of a Production Line

Abstract

The present invention discloses a method, device and electronic equipment for controlling a push block at a track-changing location of a production line. The method includes: when a vehicle to be track-changed is detected in a track-changing area, determining a target push block corresponding to the vehicle to be track-changed; determining a first adjacent push block corresponding to the target push block, and calculating a first path length between the target push block and the first adjacent push block; when the first path length is less than a first preset length, determining a speed adjustment parameter corresponding to the first path length, and adjusting the current speed of the first adjacent push block based on the speed adjustment parameter. The present invention realizes that when it is detected that a vehicle is about to change tracks, it can actively calculate and judge the distance between an adjacent subsequent push block and the push block corresponding to the vehicle. When it is judged that the distance is small and there is a risk of incorrect track change, the current speed of the subsequent push block is intelligently adjusted, preventing the vehicle from being transported to the wrong process position and ensuring the overall production efficiency.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and more particularly, to a push block control method, device, and electronic device at a track change point of a production line. Background Art

[0002] In an existing hanging production system, according to different processes and functions, the production line will have different structures and operating modes, which in turn causes differences in the structures of hanging carriers set on different production lines. One type of hanging carrier is provided with rollers, and relies on the way of rolling and sliding on the track by the rollers to drive the movement of the hanging carrier. In a relatively horizontal track section, in order to assist the movement of this type of hanging carrier, generally a push block is provided in the track structure, and the movement of the push block is controlled to assist in pushing the hanging carrier to roll.

[0003] Compared with the vehicle transportation methods based on components such as bird hooks or format chains, since the speed of the push block can be controlled and changed individually, during the transportation on the production line, the relative distance between the carriers pushed by the push block may change, and thus when the carrier changes tracks, it is easy to change the tracks of the adjacent carriers with a relatively short distance together, resulting in some carriers being transported to the wrong process positions and affecting the overall production efficiency. Summary of the Invention

[0004] To solve the above problems, embodiments of this application provide a push block control method, device, and electronic device at a track change point of a production line.

[0005] In a first aspect, embodiments of this application provide a push block control method at a track change point of a production line, the method including:

[0006] When a vehicle to be track-changed is detected in the track change area, determine the target push block corresponding to the vehicle to be track-changed;

[0007] Determine the first adjacent push block corresponding to the target push block, and calculate the first path length between the target push block and the first adjacent push block, where the first adjacent push block is the push block closest to the target push block on the reverse movement path of the target push block;

[0008] When the first path length is less than a first preset length, determine the speed adjustment parameter corresponding to the first path length, and adjust the current speed of the first adjacent push block based on the speed adjustment parameter.

[0009] Preferably, the detecting a vehicle to be track-changed in the track change area includes:

[0010] Obtain the vehicle information collected in the track change area in real time, and analyze the vehicle information to obtain the vehicle track change sequence;

[0011] When the vehicle orbit change sequence matches the orbit change area, the vehicle corresponding to the vehicle information is determined as the vehicle to be orbit-changed.

[0012] Preferably, calculating the first path length between the target push block and the first adjacent push block includes:

[0013] Obtain the first current position of the target push block and the second current position of the first adjacent push block;

[0014] Based on a preset orbit model, determine the orbit length between the first current position and the second current position, and the orbit length is the first path length.

[0015] Preferably, determining the speed adjustment parameter corresponding to the first path length includes:

[0016] Determine the length interval corresponding to the first path length, and query a preset database based on the length interval to obtain the speed adjustment parameter. At least two length intervals are stored in the database, and each length interval is mapped to a corresponding speed adjustment parameter.

[0017] Preferably, the method further includes:

[0018] Calculate the estimated orbit change duration of the target push block, and after calculating the estimated orbit change duration, calculate the estimated relative distance between the first adjacent push block and the second adjacent push block. The second adjacent push block is the push block closest to the first adjacent push block on the reverse movement path of the first adjacent push block;

[0019] When the estimated relative distance is equal to zero, calculate the estimated change distance based on the speed adjustment parameter and the estimated orbit change duration, and determine each third adjacent push block. The third adjacent push block is the push block continuously distributed on the reverse movement path of the second adjacent push block, and the distance between adjacent third adjacent push blocks is not greater than the estimated change distance, and there is a third adjacent push block whose distance from the second adjacent push block is not greater than the estimated change distance;

[0020] Adjust the current speeds of the second adjacent push block and the third adjacent push block based on the speed adjustment parameter.

[0021] Preferably, the method further includes:

[0022] When the orbit change end information corresponding to the vehicle to be orbit-changed is detected, initialize the current speeds of the first adjacent push block, the second adjacent push block, and the third adjacent push block.

[0023] In a second aspect, an embodiment of the present application provides a push block control device at a production line orbit change, and the device includes:

[0024] The first judgment module is used to determine the target pusher corresponding to the vehicle to be re-routed when a vehicle to be re-routed is detected in the re-routing area;

[0025] The determination module is used to determine the first adjacent pusher corresponding to the target pusher and calculate the first path length between the target pusher and the first adjacent pusher, where the first adjacent pusher is the pusher closest to the target pusher on the reverse movement path of the target pusher;

[0026] The second judgment module is used to determine the speed adjustment parameter corresponding to the first path length and adjust the current speed of the first adjacent pusher based on the speed adjustment parameter when the first path length is less than the first preset length.

[0027] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the method provided in the first aspect or any possible implementation manner of the first aspect are implemented.

[0028] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method provided in the first aspect or any possible implementation manner of the first aspect is implemented.

[0029] The beneficial effects of the present invention are as follows: When it is detected that a vehicle is about to change its track, it can actively calculate and judge the distance between the adjacent subsequent pusher and the pusher corresponding to the vehicle. When it is judged that the distance is small and there is a risk of incorrect track change, the current speed of the subsequent pusher is intelligently adjusted to avoid the vehicle being transported to the wrong process position and ensure the overall production efficiency. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a schematic flowchart of a method for controlling a pusher at a track change of a production line provided by an embodiment of the present application;

[0032] Figure 2 It is a schematic structural diagram of a device for controlling a pusher at a track change of a production line provided by an embodiment of the present application;

[0033] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Specific embodiments

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.

[0035] In the following description, the terms "first" and "second" are only for the purpose of description and cannot be construed as indicating or implying relative importance. The following description provides multiple embodiments of the present application. Different embodiments can be replaced or combined. Therefore, the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing all other possible combinations of A, B, C, and D, even though such embodiments may not be explicitly described in the following content.

[0036] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the content of the present application. Each example can appropriately omit, substitute, or add various processes or components. For example, the described method can be executed in a different order from the described order, and various steps can be added, omitted, or combined. In addition, the features described in some examples can be combined into other examples.

[0037] See Figure 1 , Figure 1 which is a schematic flow chart of a method for controlling a pusher at a track change point of a production line provided by an embodiment of the present application. In the embodiment of the present application, the method includes:

[0038] S101. When a vehicle to be switched is detected in the switching area, determine the target pusher corresponding to the vehicle to be switched.

[0039] The execution subject of the present application can be a cloud server.

[0040] In the embodiment of the present application, the pusher is arranged on the track of the hanging production line, and the driving motor in the pusher is rotated by the cloud server to electrically control the movement of the pusher. Similarly, the cloud server can also determine the position of the pusher in the production line through the position of the electrical signal generated during the electrical interaction with the pusher. In addition, at each variable track structure of the production line track, a switching area will be set. A sensor is set at the entrance of the switching area, and the sensor can read the information in the vehicle chip of each passing vehicle, and then determine whether the vehicle is a vehicle to be switched. If a vehicle to be switched is detected, first determine the target pusher that boosts the movement of the vehicle, so as to perform corresponding adjustments and controls during the subsequent switching process.

[0041] In an implementable manner, detecting the vehicle to be switched tracks in the track-switching area includes:

[0042] Obtaining in real time the vehicle information collected in the track-switching area, and parsing the vehicle information to obtain a vehicle track-switching sequence;

[0043] When the vehicle track-switching sequence matches the track-switching area, the vehicle corresponding to the vehicle information is determined as the vehicle to be switched tracks.

[0044] In the embodiments of the present application, the sensor will collect vehicle information through the vehicle chip. The cloud server can determine the traveling route of the vehicle by parsing the vehicle information, and then determine the position where track switching is required, and then obtain the vehicle track-switching sequence at each track-switching position. Each track-switching area is also preset with a track-switching sequence. When the two can match, it is considered that the vehicle needs to switch tracks in this track-switching area, and this vehicle is the vehicle to be switched tracks.

[0045] S102. Determine the first adjacent pusher corresponding to the target pusher, and calculate the first path length between the target pusher and the first adjacent pusher. The first adjacent pusher is the pusher closest to the target pusher on the reverse movement path of the target pusher.

[0046] In the embodiments of the present application, since the target pusher needs to switch tracks, if the first adjacent pusher is too close to it, it is easy to be brought into the track switching during track switching, and then the vehicle in the first adjacent pusher may be transported to the wrong position. To avoid this situation, the distance between the target pusher and the first adjacent pusher should be maintained during the track-switching process of the target pusher. Specifically, since the positions of the pushers are all known, the first path length between the two pushers can be calculated. Through the first path length, it can be determined whether the distance between the two pushers is too close, and then the subsequent control process can be realized.

[0047] In an implementable manner, calculating the first path length between the target pusher and the first adjacent pusher includes:

[0048] Obtain the first current position of the target pusher and the second current position of the first adjacent pusher;

[0049] Based on the preset track model, determine the track length between the first current position and the second current position, and the track length is the first path length.

[0050] In the embodiment of the present application, the first current position of the target pusher block and the second current position of the first adjacent pusher block can be obtained through the electrical signal generated by the connection between the pusher block and the track. In addition, a physical structure model of the production line track, that is, a track model, is pre-stored in the cloud server. The length parameters of each position in the model are known. By determining the track section between the first current position and the second current position, the track length can be determined, and thus the first path length can be obtained.

[0051] S103. When the first path length is less than the first preset length, determine the speed adjustment parameter corresponding to the first path length, and adjust the current speed of the first adjacent pusher block based on the speed adjustment parameter.

[0052] In the embodiment of the present application, a first preset length is set in advance. If the first path length is smaller than the first preset length, it is considered that the distance between the two pusher blocks is too close, and it is easy to have a track-changing error. At this time, it is necessary to temporarily reduce the moving speed of the first adjacent pusher block by adjusting the electrical signal parameters, so that the two are separated during the track-changing process. Specifically, the speed adjustment parameter will be determined according to the first path length. The larger the length, the farther the distance between the two, and the lower the speed adjustment parameter, that is, the less the speed needs to be reduced. This adjustment method is to avoid reducing the speed too low under unnecessary circumstances and causing a stop to the subsequent pusher blocks. After the speed adjustment parameter is determined, the current speed of the first adjacent pusher block can be adjusted accordingly.

[0053] In an implementable manner, the determining the speed adjustment parameter corresponding to the first path length includes:

[0054] Determine the length interval corresponding to the first path length, and query a preset database based on the length interval to obtain the speed adjustment parameter. At least two length intervals are stored in the database, and each length interval is mapped to a corresponding speed adjustment parameter.

[0055] In the embodiment of the present application, the ultimate goal of speed adjustment is only to separate the distance between the two pusher blocks, and there is no need to consume too much server processing resources for particularly precise control adjustment. Therefore, from the perspective of server resource utilization efficiency, multiple length intervals are set in advance, and each length interval can query a corresponding speed adjustment parameter in the database. In actual situations, only by determining the length interval corresponding to the first path length can the corresponding speed adjustment parameter be obtained.

[0056] In an implementable manner, the method further includes:

[0057] Calculate the estimated orbit-changing duration of the target pusher block. After calculating the estimated orbit-changing duration, calculate the estimated relative distance between the first adjacent pusher block and the second adjacent pusher block, where the second adjacent pusher block is the pusher block closest to the first adjacent pusher block on the reverse movement path of the first adjacent pusher block;

[0058] When the estimated relative distance is equal to zero, calculate the estimated change distance based on the speed adjustment parameter and the estimated orbit-changing duration, and determine each third adjacent pusher block. The third adjacent pusher block is the pusher block continuously distributed on the reverse movement path of the second adjacent pusher block, and the distance between adjacent third adjacent pusher blocks is not greater than the estimated change distance, and there is a third adjacent pusher block whose distance from the second adjacent pusher block is not greater than the estimated change distance;

[0059] Adjust the current speeds of the second adjacent pusher block and the third adjacent pusher block based on the speed adjustment parameter.

[0060] In the embodiment of the present application, when there are multiple pusher blocks distributed densely, adjusting the speed of the first adjacent pusher block may affect the transportation of the subsequent pusher blocks, thereby causing collisions between the pusher blocks. Therefore, it is also necessary to determine the distance between the first adjacent pusher block and the subsequent pusher blocks. Specifically, since the position of the target pusher block, the position of the orbit-changing point, and the speed of the target pusher block are known, the estimated orbit-changing duration required for the target pusher block to complete the orbit change can be calculated, and then the estimated relative distance between the first adjacent pusher block and the second adjacent pusher block after the estimated orbit-changing duration can be calculated. If the estimated relative distance is zero, it means that the two pusher blocks will collide due to speed differences during the orbit change. At this time, it is also necessary to control and adjust the pusher blocks subsequent to the first adjacent pusher block. Specifically, an estimated relative distance of zero only indicates that the two pusher blocks will collide within the estimated orbit-changing duration, and the specific value of the distance change cannot be obtained. Therefore, the estimated change distance will also be calculated. The estimated change distance is the theoretical relative distance change value without considering factors such as collisions, that is, the difference in the displacement distances of the two pusher blocks within the estimated orbit-changing duration. Through this estimated change distance, it is possible to determine multiple consecutive subsequent pusher blocks, that is, the third adjacent pusher blocks, whose distances from the adjacent pusher blocks are less than the estimated change distance after the speed of the second adjacent pusher block changes and need to adjust their own speeds to avoid collisions. Finally, the second adjacent pusher block and the third adjacent pusher block will be adjusted together with the speed adjustment parameter.

[0061] In an implementable manner, the method further includes:

[0062] When the orbit-changing end information corresponding to the vehicle to be orbit-changed is detected, initialize the current speeds of the first adjacent pusher block, the second adjacent pusher block, and the third adjacent pusher block.

[0063] In the embodiment of the present application, after the vehicle to be re-routed completes the re-routing process, the vehicle chip can generate re-routing end information and send it to the cloud server. After receiving the re-routing end information, the cloud server considers that the re-routing process has ended and there is no need to further reduce the moving speed of the subsequent pusher. Therefore, the cloud server will control the pusher that reduces the speed to initialize the current speed to ensure the overall transportation efficiency of the production line.

[0064] Next, the pusher control device at the production line re-routing provided by the embodiment of the present application will be introduced in detail. It should be noted that the Figure 2 pusher control device at the production line re-routing shown in the attached Figure 2 figures is used to execute the method of the embodiment of the present application Figure 1 shown. 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 Figure 1 embodiment shown in the present application.

[0065] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of a pusher control device at the production line re-routing provided by the embodiment of the present application. As Figure 2 shown, the device includes:

[0066] A first judgment module 201, configured to determine a target pusher corresponding to the vehicle to be re-routed when a vehicle to be re-routed is detected in the re-routing area;

[0067] A determination module 202, configured to determine a first adjacent pusher corresponding to the target pusher, and calculate a first path length between the target pusher and the first adjacent pusher, where the first adjacent pusher is the pusher closest to the target pusher on the reverse movement path of the target pusher;

[0068] A second judgment module 203, configured to determine a speed adjustment parameter corresponding to the first path length and adjust the current speed of the first adjacent pusher based on the speed adjustment parameter when the first path length is less than a first preset length.

[0069] In an implementable manner, the first judgment module 201 includes:

[0070] An analysis unit, configured to obtain vehicle information collected in the re-routing area in real time and analyze the vehicle information to obtain a vehicle re-routing sequence;

[0071] A judgment unit, configured to determine the vehicle corresponding to the vehicle information as the vehicle to be re-routed when the vehicle re-routing sequence matches the re-routing area.

[0072] In an implementable manner, the determination module 202 includes:

[0073] A first acquisition unit, configured to acquire a first current position of the target push block and a second current position of the first adjacent push block;

[0074] A first determination unit, configured to determine an orbital length between the first current position and the second current position based on a preset orbital model, where the orbital length is the first path length.

[0075] In an implementable manner, the second judgment module 203 includes:

[0076] A second determination unit, configured to determine a length interval corresponding to the first path length, and query a preset database based on the length interval to obtain a speed adjustment parameter. At least two length intervals are stored in the database, and each length interval is mapped to a corresponding speed adjustment parameter.

[0077] In an implementable manner, the device further includes:

[0078] A calculation module, configured to calculate an estimated orbit-changing duration of the target push block, and after calculating the estimated orbit-changing duration, calculate an estimated relative distance between the first adjacent push block and the second adjacent push block. The second adjacent push block is the push block closest to the first adjacent push block on the reverse movement path of the first adjacent push block;

[0079] A third judgment module, configured to, when the estimated relative distance is equal to zero, calculate an estimated change distance based on the speed adjustment parameter and the estimated orbit-changing duration, and determine each third adjacent push block. The third adjacent push blocks are continuously distributed on the reverse movement path of the second adjacent push block, and the distance between adjacent third adjacent push blocks is not greater than the estimated change distance, and there is a third adjacent push block whose distance from the second adjacent push block is not greater than the estimated change distance;

[0080] An adjustment module, configured to adjust the current speeds of the second adjacent push block and the third adjacent push block based on the speed adjustment parameter.

[0081] In an implementable manner, the device further includes:

[0082] An initialization module, configured to initialize the current speeds of the first adjacent push block, the second adjacent push block, and the third adjacent push block after detecting the orbit-changing end information corresponding to the vehicle to be orbit-changed.

[0083] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be realized by means of software and / or hardware. The "units" and "modules" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a Field-Programmable Gate Array (FPGA), an Integrated Circuit (IC), etc.

[0084] Each processing unit and / or module of the embodiments of the present application can be implemented by an analog circuit that implements the functions described in the embodiments of the present application, or can also be implemented by software that executes the functions described in the embodiments of the present application.

[0085] See Figure 3 , which shows a schematic structural diagram of an electronic device involved in the embodiments of the present application. This electronic device can be used to implement Figure 1 the method in the shown embodiments. As Figure 3 shown, the electronic device 300 may include: at least one central processing unit 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0086] Among them, the communication bus 302 is used to realize the connection and communication between these components.

[0087] Among them, the user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0088] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0089] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 uses various interfaces and lines to connect various parts within the entire electronic device 300, and by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, as well as calling data stored in the memory 305, it executes various functions of the terminal 300 and processes data. Optionally, the central processing unit 301 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 central processing unit 301 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the central processing unit 301 and may be implemented separately by a single chip.

[0090] Among them, the memory 305 may include random access memory (RAM) and may also include read-only memory. Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 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 at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store the data involved in the above-mentioned various method embodiments. Optionally, the memory 305 may also be at least one storage device located far from the aforementioned central processing unit 301. As Figure 3 shown, the memory 305, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and program instructions.

[0091] In Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an interface for the user to input and obtain the data input by the user; and the central processing unit 301 can be used to call the pusher control application program at the production line track change stored in the memory 305 and specifically perform the following operations:

[0092] When a vehicle to be track-changed is detected in the track change area, determine the target pusher corresponding to the vehicle to be track-changed;

[0093] Determine the first adjacent pusher corresponding to the target pusher, and calculate the first path length between the target pusher and the first adjacent pusher, where the first adjacent pusher is the pusher closest to the target pusher on the reverse movement path of the target pusher;

[0094] When the first path length is less than the first preset length, determine the speed adjustment parameter corresponding to the first path length, and adjust the current speed of the first adjacent pusher based on the speed adjustment parameter.

[0095] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0096] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0097] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0098] In several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some service interfaces. The indirect couplings or communication connections of the devices or units can be in electrical or other forms.

[0099] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0100] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0101] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a memory and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned memory includes: USB flash drives, read-only memory (ROM), random access memory (RAM), mobile hard disks, magnetic disks, or optical disks, etc., which can store program codes.

[0102] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable memory. The memory can include: flash drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, etc.

[0103] The foregoing are only exemplary embodiments of the present disclosure, and thus cannot limit the scope of the present disclosure. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and examples are only to be regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for controlling a pusher at a track-changing location of a production line, characterized in that, the method includes: When a vehicle to be track-changed is detected in the track-changing area, determine the target pusher corresponding to the vehicle to be track-changed; Determine the first adjacent pusher corresponding to the target pusher, and calculate the first path length between the target pusher and the first adjacent pusher, where the first adjacent pusher is the pusher closest to the target pusher on the reverse movement path of the target pusher; When the first path length is less than the first preset length, determine the speed adjustment parameter corresponding to the first path length, and adjust the current speed of the first adjacent pusher based on the speed adjustment parameter; Calculate the estimated track-changing duration of the target pusher, and after calculating the estimated track-changing duration, calculate the estimated relative distance between the first adjacent pusher and the second adjacent pusher, where the second adjacent pusher is the pusher closest to the first adjacent pusher on the reverse movement path of the first adjacent pusher; When the estimated relative distance is zero, calculate the estimated change distance based on the speed adjustment parameter and the estimated track-changing duration, and determine each third adjacent pusher, where the third adjacent pusher is continuously distributed on the reverse movement path of the second adjacent pusher, and the distance between adjacent third adjacent pushers is not greater than the estimated change distance, and there is a third adjacent pusher whose distance from the second adjacent pusher is not greater than the estimated change distance; Adjust the current speeds of the second adjacent pusher and the third adjacent pusher based on the speed adjustment parameter.

2. The method according to claim 1, characterized in that, detecting a vehicle to be track-changed in the track-changing area includes: Obtain the vehicle information collected in the track-changing area in real time, and parse the vehicle information to obtain the vehicle track-changing sequence; When the vehicle track-changing sequence matches the track-changing area, determine the vehicle corresponding to the vehicle information as the vehicle to be track-changed.

3. The method according to claim 1, characterized in that, calculating the first path length between the target pusher and the first adjacent pusher includes: Obtain the first current position of the target pusher and the second current position of the first adjacent pusher; Based on the preset track model, determine the track length between the first current position and the second current position, and the track length is the first path length.

4. The method according to claim 1, characterized in that, determining the speed adjustment parameter corresponding to the first path length includes: Determine the length interval corresponding to the first path length, and query the preset database based on the length interval to obtain the speed adjustment parameter. At least two length intervals are stored in the database, and each length interval is mapped to a corresponding speed adjustment parameter.

5. The method according to claim 1, characterized in that, the method further includes: After detecting the track-changing end information corresponding to the vehicle to be track-changed, initialize the current speeds of the first adjacent pusher, the second adjacent pusher, and the third adjacent pusher.

6. A pusher control device at a track-changing location of a production line, characterized in that, A push block control method at the track-changing location of a production line as described in claim 1, the device comprising: A first judgment module, configured to determine a target push block corresponding to the vehicle to be track-changed when a vehicle to be track-changed is detected in the track-changing area; A determination module, configured to determine a first adjacent push block corresponding to the target push block, and calculate a first path length between the target push block and the first adjacent push block, where the first adjacent push block is the push block closest to the target push block on the reverse movement path of the target push block; A second judgment module, configured to determine a speed adjustment parameter corresponding to the first path length and adjust the current speed of the first adjacent push block based on the speed adjustment parameter when the first path length is less than a first preset length.

7. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, when the processor executes the computer program, the steps of the method as described in any one of claims 1-5 are implemented.

8. A computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the steps of the method as described in any one of claims 1-5 are implemented.

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