Magnetic drive motor conveying method, device, system and storage medium

Abstract

The embodiment of the present application discloses a magnetic drive motor conveying method, device, system and storage medium. Applied to the magnetic drive motor conveying system, it includes a plurality of conveying line bodies formed by splicing a plurality of stators in sequence along the conveying line direction, a mover magnetically coupled with the stator and a docking module, the docking module connects any two conveying line bodies between the plurality of conveying line bodies by rotation, and is used to transport the mover on one conveying line body to another conveying line body, and the method includes: determining the main road and the branch road; when there is no mover on both the main road and the branch road, the docking priority of the main road is higher than the docking priority of the branch road; based on the mover information corresponding to the first target position on the first input line body in the main road and the second target position on the second input line body in the branch road, the docking result of the docking module is determined, and the docking module is controlled to rotate to the corresponding target docking position, connecting the main road in the docking result, reducing the rotation time of the docking module, and improving the conveying efficiency.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment technology, and in particular to a magnetic drive motor conveying method, device, system and storage medium. Background Art

[0002] During the transportation of materials on the magnetic drive motor conveyor line, it is often necessary to transfer materials from one conveyor line to another by switching the conveyor line. For example, the frequent switching and connection between multiple conveyor lines can be realized through the docking module. However, when there are movers on multiple conveyor lines at the same time and they all need to be transported to another conveyor line through the docking module, which conveyor line's mover should be transported first by the docking module to improve the transportation efficiency becomes a problem that needs to be considered. Summary of the invention

[0003] The embodiments of the present application provide a magnetic drive motor conveying method, device, system and storage medium, which can reduce the rotation time of the docking module and improve the conveying efficiency. The above technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a motor conveying method, which is applied to a magnetic drive motor conveying system, wherein the magnetic drive motor conveying system comprises a plurality of conveying line bodies formed by sequentially splicing a plurality of stators along a conveying line direction, a mover magnetically coupled to the stator, and a docking module, wherein the docking module connects any two conveying line bodies between the plurality of conveying line bodies by rotation, and is used to transport the mover on one conveying line body to another conveying line body; the method comprises:

[0005] According to the first preset rule, the trunk road and the branch road are determined based on the plurality of conveyor lines; when there are no movers on the trunk road and the branch road, the connection priority of the trunk road is higher than the connection priority of the branch road;

[0006] Obtain a first target position on a first input line in the above-mentioned main road, and obtain a second target position on a second input line in the above-mentioned branch road;

[0007] Determine the docking result corresponding to the docking module based on the mover information corresponding to the first target position and the second target position;

[0008] Based on the docking result, the docking module is controlled to rotate to a corresponding target docking position so that the docking module is connected to the main road in the docking result.

[0009] In a possible implementation, the plurality of conveying lines include at least two input lines and an output line;

[0010] According to the first preset rule, determining the main road and the branch road based on the plurality of transmission lines includes:

[0011] Obtaining the transmission parameters corresponding to the at least two input lines;

[0012] The first input line body with the highest transmission parameter among the at least two input lines and the output line body are determined as the main road, and the second input line body except the first input line body among the at least two input lines is determined as the branch road;

[0013] Among them, when there are multiple second input lines, the higher the transportation parameter corresponding to the second input line, the higher the connection priority of the branch road corresponding to the second input line.

[0014] In a possible implementation, the above-mentioned conveying parameters include at least one of the following: conveying capacity, conveying speed, number of processes to be conveyed, and preset conveying priority;

[0015] The above-mentioned conveying capacity represents the number of processes conveyed by the above-mentioned input line body per hour; the processes conveyed by the above-mentioned input line body are different, and the conveying parameters corresponding to the above-mentioned input line body are different.

[0016] In a possible implementation, after determining the main road and the branch road based on the plurality of transmission lines according to the first preset rule, and before obtaining the first target position on the first input line in the main road and obtaining the second target position on the second input line in the branch road, the method further includes:

[0017] Obtain the first stator information of the main road, obtain the second stator information of the branch road and the third stator information of the connection module;

[0018] The first modulus length interval of the main road is determined based on the first stator information, and the second modulus length interval of the branch road is determined based on the second stator information and the third stator information; any first modulus length within the first modulus length interval is different from any second modulus length within the second modulus length interval; the first modulus length is used to characterize the position of the point on the main road, and the second modulus length is used to characterize the position of the point on the branch road;

[0019] The step of obtaining the first target position on the first input line in the trunk road and obtaining the second target position on the second input line in the branch road includes:

[0020] Based on the first module length interval, the first target module length range in the first input line of the main road that is closest to the docking module is obtained, and based on the second module length interval, the second target module length range in the second input line of the branch road that is closest to the docking module is obtained.

[0021] In a possible implementation, the first modulus is greater than the second modulus;

[0022] When there are multiple branch roads, the higher the connection priority corresponding to the branch road is, the larger the corresponding second module length on the branch road is.

[0023] In a possible implementation, the first target position includes a first target module length range in the first input line body that is closest to the docking module, and the second target position includes a second target module length range in the second input line body that is closest to the docking module;

[0024] The above-mentioned determining the docking result corresponding to the above-mentioned docking module based on the mover information corresponding to the above-mentioned first target position and the above-mentioned second target position respectively includes:

[0025] When there is a mover within the first target module length range, and there is no mover within the second target module length range, or there is no mover within both the first target module length range and the second target module length range, or the number of movers within the first target module length range is saturated, it is determined that the docking result corresponding to the docking module is to connect to the main road;

[0026] When there is no mover within the first target module length range and there is a mover within the second target module length range, or the number of movers within the first target module length range is not saturated and the number of movers within the second target module length range is saturated, it is determined that the docking result corresponding to the docking module is to connect the above-mentioned branch road.

[0027] In a possible implementation, the saturation of the number of movers within the second target modulus range includes the following situations:

[0028] When the module length corresponding to the second target module length range is less than the third module length interval length corresponding to the docking module, the number of movers within the second target module length range is equal to the first maximum buffer capacity within the second target module length range;

[0029] When the module length corresponding to the second target module length range is greater than or equal to the length of the third module length interval corresponding to the docking module, the number of movers within the second target module length range is equal to the second maximum buffer capacity within the third module length interval corresponding to the docking module.

[0030] In a possible implementation, after controlling the docking module to rotate to the corresponding target docking position based on the docking result, the method further includes:

[0031] According to the second preset rule, the movement of the mover on the above-mentioned main road and / or the above-mentioned branch road is controlled based on the above-mentioned target docking position.

[0032] In a possible implementation, the controlling the movement of the mover on the main road and / or the branch road based on the target docking position according to the second preset rule includes:

[0033] Determine the third module length interval where the docking module is located after being connected to the trunk road based on the target docking position;

[0034] Determine the continuous modulus length sections corresponding to the main road and the branch road based on the target connection position and the third modulus length interval;

[0035] The movers on the main road and / or the branch road are controlled to move in the corresponding continuous sections of the module length according to a preset program.

[0036] In a possible implementation, the determining of the continuous modulus length segments corresponding to the main road and the branch road based on the target docking position and the third modulus length interval includes:

[0037] When the target connection position is the first target rotation position corresponding to the main road, the first sub-module length interval corresponding to the first input line body, the third module length interval corresponding to the connection module and the second sub-module length interval corresponding to the output line body are sequentially spliced ​​to obtain the first module length continuous section corresponding to the main road, and the third sub-module length interval corresponding to the second input line body is determined as the second module length continuous section corresponding to the branch road;

[0038] When the target connection position is the second target rotation position corresponding to the branch road, the two first module length continuous sections corresponding to the main road are determined, and the third submodule length interval corresponding to the second input line body and the third module length interval corresponding to the connection module are sequentially spliced ​​to obtain the second module length continuous section corresponding to the branch road; the two first module length continuous sections include the first submodule length interval corresponding to the first input line body and the second submodule length interval corresponding to the output line body;

[0039] Among them, the above-mentioned target docking positions are different, the third module length intervals corresponding to the above-mentioned docking modules are different, and the lengths of the third module length intervals corresponding to the above-mentioned docking modules are the same.

[0040] In a possible implementation, the controlling the movement of the mover on the main road and / or the branch road based on the target docking position according to the second preset rule includes:

[0041] When the target docking position is the first target rotation position corresponding to the main road, the mover on the main road is controlled to move from the starting position of the main road to the end position of the main road based on the first module length interval of the main road;

[0042] When the target docking position is the second target rotation position corresponding to the branch road, the mover on the branch road is controlled to move from the starting position of the branch road to the end position of the branch road based on the second module length interval of the branch road.

[0043] In the second aspect, an embodiment of the present application provides a magnetic drive motor conveying device, which is applied to a magnetic drive motor conveying system. The magnetic drive motor conveying system includes a plurality of conveying line bodies formed by sequentially splicing a plurality of stators along the conveying line direction, a mover magnetically coupled to the stator, and a docking module. The docking module connects any two conveying line bodies between the plurality of conveying line bodies by rotation, and is used to transport the mover on one conveying line body to another conveying line body; the device includes:

[0044] A first determination module is used to determine the main road and the branch road based on the plurality of conveyor lines according to a first preset rule; when there are no movers on the main road and the branch road, the connection priority of the main road is higher than the connection priority of the branch road;

[0045] A first acquisition module is used to acquire a first target position on a first input line in the above-mentioned main road, and acquire a second target position on a second input line in the above-mentioned branch road;

[0046] A second determination module, configured to determine a docking result corresponding to the docking module based on the mover information corresponding to the first target position and the second target position;

[0047] The first control module is used to control the docking module to rotate to a corresponding target docking position based on the docking result, so that the docking module is connected to the main road in the docking result.

[0048] In a possible implementation, the plurality of conveying lines include at least two input lines and an output line;

[0049] The first determination module is specifically used for:

[0050] Obtain the transportation parameters corresponding to each of the at least two input lines; determine the first input line with the highest transportation parameter among the at least two input lines and the output line as the main road, and determine the second input line other than the first input line among the at least two input lines as the branch road; wherein, when there are multiple second input lines, the higher the transportation parameter corresponding to the second input line, the higher the connection priority of the branch road corresponding to the second input line.

[0051] In a possible implementation, the above-mentioned conveying parameters include at least one of the following: conveying capacity, conveying speed, number of processes to be conveyed, and preset conveying priority;

[0052] The above-mentioned conveying capacity represents the number of processes conveyed by the above-mentioned input line body per hour; the processes conveyed by the above-mentioned input line body are different, and the conveying parameters corresponding to the above-mentioned input line body are different.

[0053] In a possible implementation, the magnetic drive motor conveying device further includes:

[0054] A second acquisition module is used to acquire the first stator information of the main road, the second stator information of the branch road, and the third stator information of the connection module;

[0055] A third determination module is used to determine a first modulus length interval of the above-mentioned main road based on the above-mentioned first stator information, and to determine a second modulus length interval of the above-mentioned branch road based on the above-mentioned second stator information and the above-mentioned third stator information; any first modulus length within the above-mentioned first modulus length interval is different from any second modulus length within the above-mentioned second modulus length interval; the above-mentioned first modulus length is used to characterize the position of the point on the above-mentioned main road, and the above-mentioned second modulus length is used to characterize the position of the point on the above-mentioned branch road;

[0056] The above-mentioned first acquisition module is specifically used to: obtain the first target module length range in the first input line body of the above-mentioned main road that is closest to the above-mentioned connecting module based on the above-mentioned first module length interval, and obtain the second target module length range in the second input line body of the above-mentioned branch road that is closest to the above-mentioned connecting module based on the above-mentioned second module length interval.

[0057] In a possible implementation, the first module length is greater than the second module length; when there are multiple branch roads, the higher the connection priority corresponding to the branch road is, the larger the corresponding second module length on the branch road is.

[0058] In a possible implementation, the first target position includes a first target module length range in the first input line body that is closest to the docking module, and the second target position includes a second target module length range in the second input line body that is closest to the docking module;

[0059] The second determination module is specifically used for:

[0060] When there is a mover within the first target module length range and there is no mover within the second target module length range, or there is no mover within both the first target module length range and the second target module length range, or the number of movers within the first target module length range is saturated, it is determined that the docking result corresponding to the docking module is the connection to the main road; when there is no mover within the first target module length range and there is a mover within the second target module length range, or the number of movers within the first target module length range is not saturated and the number of movers within the second target module length range is saturated, it is determined that the docking result corresponding to the docking module is the connection to the branch road.

[0061] In a possible implementation, the saturation of the number of movers within the second target modulus range includes the following situations:

[0062] When the module length corresponding to the second target module length range is smaller than the length of the third module length interval corresponding to the docking module, the number of movers within the second target module length range is equal to the first maximum buffer capacity within the second target module length range; when the module length corresponding to the second target module length range is greater than or equal to the length of the third module length interval corresponding to the docking module, the number of movers within the second target module length range is equal to the second maximum buffer capacity within the third module length interval corresponding to the docking module.

[0063] In a possible implementation, the magnetic drive motor conveying device further includes:

[0064] The second control module is used to control the movement of the mover on the above-mentioned main road and / or the above-mentioned branch road based on the above-mentioned target docking position according to a second preset rule.

[0065] In a possible implementation, the second control module is specifically configured to:

[0066] Based on the target docking position, the third module length interval in which the docking module is located after being connected to the main road is determined; based on the target docking position and the third module length interval, the module length continuous sections corresponding to the main road and the branch road are determined; and the movers on the main road and / or the branch road are controlled to move in the corresponding module length continuous sections according to a preset program.

[0067] In a possible implementation, when the second control module determines the continuous module length sections corresponding to the main road and the branch road based on the target docking position and the third module length interval, it is specifically used to:

[0068] When the target connection position is the first target rotation position corresponding to the main road, the first sub-module length interval corresponding to the first input line body, the third module length interval corresponding to the connection module and the second sub-module length interval corresponding to the output line body are sequentially spliced ​​to obtain the first module length continuous section corresponding to the main road, and the third sub-module length interval corresponding to the second input line body is determined as the second module length continuous section corresponding to the branch road;

[0069] When the target docking position is the second target rotation position corresponding to the branch road, the two first module length continuous sections corresponding to the main road are determined, and the third sub-module length interval corresponding to the second input line body and the third module length interval corresponding to the docking module are sequentially spliced ​​to obtain the second module length continuous section corresponding to the branch road; the two first module length continuous sections include the first sub-module length interval corresponding to the first input line body and the second sub-module length interval corresponding to the output line body; wherein, the target docking positions are different, the third module length intervals corresponding to the docking modules are different, and the lengths of the third module length intervals corresponding to the docking modules are the same.

[0070] In a possible implementation, the second control module is specifically configured to:

[0071] When the target connection position is the first target rotation position corresponding to the main road, the mover on the main road is controlled to move from the starting position of the main road to the end position of the main road based on the first module length interval of the main road; when the target connection position is the second target rotation position corresponding to the branch road, the mover on the branch road is controlled to move from the starting position of the branch road to the end position of the branch road based on the second module length interval of the branch road.

[0072] In a third aspect, an embodiment of the present application provides a magnetic drive motor conveying system, including: a controller, a memory, a plurality of conveying line bodies formed by sequentially splicing a plurality of stators along the conveying line direction, a mover magnetically coupled to the stator, and a docking module;

[0073] The above-mentioned conveying line body is used to drive the mover to carry out process conveying;

[0074] The connecting module is used to connect any two conveying line bodies among the plurality of conveying line bodies by rotation, so as to transport the mover on one conveying line body to another conveying line body;

[0075] The controller is connected to the memory;

[0076] The above-mentioned memory is used to store executable program code;

[0077] The controller runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the method provided by the first aspect of the embodiment of the present application or any possible implementation of the first aspect.

[0078] In a fourth aspect, an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a controller and executing the method provided by the first aspect of the embodiment of the present application or any possible implementation of the first aspect.

[0079] In the embodiment of the present application, on the one hand, since the main road is the main transportation road, it can be the road with the largest transportation quantity, or the road for carrying out the final process. When there are no movers on both the main road and the branch road, the connection priority of the main road is set higher than that of the branch road, that is, the docking module is connected to the main road first, so that when there are movers on the main road that need to be transported, since the main road is in a connected state, the docking module can be connected to the main road without rotating and docking, thereby omitting the rotation time of the docking module and improving the transportation efficiency; on the other hand, the first target position on the first input line body in the main road and the second target position on the second input line body in the branch road are respectively controlled by the mover information corresponding to the first target position on the first input line body in the main road and the second target position on the second input line body in the branch road to rotate to the corresponding target docking position, so that the docking module is controlled according to the actual operation conditions of the movers on the main road and the branch road to achieve more accurate and efficient rotation and docking. On the basis of giving priority to the transportation of the main road, it can also avoid, to a certain extent, the problem of reducing the process transportation efficiency of the branch road due to excessive buffering of movers in the branch road caused by connecting to the main road. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] 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 described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0081] Figure 1 A schematic structural diagram of a magnetic drive motor conveying system provided as an exemplary embodiment of this specification;

[0082] Figure 2 A schematic flow chart of a magnetic drive motor conveying method provided as an exemplary embodiment of this specification;

[0083] Figure 3 A schematic diagram of an implementation process of obtaining a first target position and a second target position provided by an exemplary embodiment of this specification;

[0084] Figure 4 A schematic diagram of an implementation process of determining a docking result provided by an exemplary embodiment of this specification;

[0085] Figure 5 A schematic flow chart of another magnetic drive motor conveying method provided as an exemplary embodiment of this specification;

[0086] Figure 6 A schematic diagram of a process flow for controlling the movement of a mover provided in an exemplary embodiment of this specification;

[0087] Fig. 7AA schematic diagram of a connecting trunk road provided as an exemplary embodiment of this specification;

[0088] Figure 7B A schematic diagram of a connecting branch road provided as an exemplary embodiment of this specification;

[0089] Figure 8 A schematic structural diagram of a magnetic drive motor conveying device provided as an exemplary embodiment of this specification;

[0090] Fig. 9 A schematic structural diagram of another magnetic drive motor conveying system provided as an exemplary embodiment of this specification. DETAILED DESCRIPTION

[0091] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0092] The terms "first", "second", "third", etc. in this specification and claims and the above drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0093] Please refer to the following Figure 1 , which is a structural schematic diagram of a magnetic drive motor conveying system provided by an exemplary embodiment of this specification. Figure 1 As shown, the magnetic drive motor conveying system includes: a plurality of conveying line bodies (for example but not limited to) formed by splicing a plurality of stators in sequence along the conveying line direction Figure 1 The conveying line body 111, conveying line body 112, conveying line body 113, etc. shown in the figure), the docking module 120 and the mover magnetically coupled with the stator. Among them:

[0094] The conveyor line can be defined as a virtual axis, which is a linear axis preset based on the stator arrangement, and its axis length can be, but is not limited to, extending from 0 to infinity. Since the stator can read the position of the mover in real time, the mover on the conveyor line (for example Figure 1 The real-time position of the mover 130 shown in the figure is reflected by its real-time coordinate position (mold length) on the axis. The virtual axis only has a preset position, and it drives a mover from a preset position to another preset position through the stator.

[0095] Furthermore, the stator can detect the position of the mover through a magnetic grating sensor or a grating sensor. It can be but is not limited to setting a grating scale or a magnetic grating scale on the mover, and setting a reader on the stator. The stator can read the grating scale or the magnetic grating scale through the reader to obtain the running position of the mover.

[0096] Furthermore, a permanent magnet array is arranged on the mover, a coil is arranged on the stator, and the coil is energized to drive the mover to run. A workpiece (process) to be added is arranged on the mover, and the workpiece (process) is transported by driving the mover to run on the conveyor line.

[0097] The docking module 120 includes a rotary drive motor and one or more stators. The rotary drive motor can drive the docking module 120 to rotate to a corresponding docking position to achieve the connection between any two of the multiple conveying line bodies. The stator in the docking module 120 can be used to transport the mover on one conveying line body to another conveying line body, for example but not limited to Figure 1 As shown, the conveying line body 111 and the conveying line body 112 are connected to realize conveying the mover on the conveying line body 111 to the conveying line body 112 or conveying the mover on the conveying line body 112 to the conveying line body 111, etc.

[0098] For example, Figure 1 As shown, after the magnetic drive motor transmission system is powered on, the first input line body 111, the connection module 120 and the output line body 112 can be sequentially spliced ​​and determined as the main road according to the first preset rule, the stator 110a in the first input line body 111 is the zero stator (starting stator) of the main road, the stator 110b in the output line body 112 is the end stator of the main road, and the second input line body 113 is determined as the branch road, and the stator 113a in the second input line body 113 is the zero stator of the branch road. When there is no mover on both the main road and the branch road, the connection priority of the main road is higher than the connection priority of the branch road.

[0099] Optionally, in order to reduce the number of stators in the magnetic drive motor conveying system and save the cost of the magnetic drive motor conveying system, the magnetic drive motor conveying system may further include an auxiliary conveying line, such as but not limited to a belt line, etc. At this time, the conveying line and the docking module may be connected via the auxiliary conveying line.

[0100] It is understandable that the stator can be a straight stator or an arc stator, which is not limited in the present embodiment. The number, type and length of stators in the multiple conveyor lines and docking modules can be the same or different, which is not limited in the present embodiment.

[0101] Understandably, Figure 1The number of conveying lines in the magnetic drive motor conveying system shown is only an example. In a specific implementation, the magnetic drive motor conveying system may include any number of conveying lines greater than or equal to 3, and the present application embodiment does not specifically limit this. For example, but not limited to, the multiple conveying lines in the magnetic drive motor conveying system may be at least two input lines and one output line, one input line and at least two output lines, at least two input lines and at least two output lines, etc.

[0102] It should be noted that the embodiment of the present application mainly takes the example of a magnetic drive motor conveying system including at least two input lines and one output line to introduce the magnetic drive motor conveying method provided by the embodiment of the present application. In the actual magnetic drive motor conveying scenario, the docking position of the docking module in the magnetic drive motor conveying system including at least two input lines and at least two output lines and the method of magnetic drive motor conveying can be controlled according to a logic (idea) similar to that of the magnetic drive motor conveying method provided in the embodiment of the present application, so as to also achieve the effect of reducing the rotation time of the docking module when there are bifurcated roads (one input line corresponds to at least two output lines, at least two input lines correspond to one output line, etc.) during the conveying process, thereby improving the conveying efficiency.

[0103] Next, combine Figure 1 , introduces the magnetic drive motor conveying method provided by the embodiment of the present application. For details, please refer to Figure 2 , which is a flow chart of a magnetic drive motor conveying method provided by an exemplary embodiment of this specification. Figure 2 As shown, the magnetic drive motor conveying method includes the following steps:

[0104] S201, according to the first preset rule, determine the main road and the branch road based on multiple conveyor lines. When there are no movers on the main road and the branch road, the connection priority of the main road is higher than the connection priority of the branch road.

[0105] Since the trunk road is the main transportation trunk road, when there are no movers on both the main road and the branch road, the connection priority of the main road is set higher than the connection priority of the branch road, that is, the docking module is connected with the main road first, so that when there is a mover on the main road that needs to be transported, since the main road is connected, the docking module can be directly connected to the main road without further rotation and docking, thereby reducing the rotation and docking time of the docking module and improving the transportation efficiency of the magnetic drive motor.

[0106] Specifically, the above-mentioned multiple conveying lines may include at least two input lines and an output line. After the magnetic drive motor conveying system is powered on, the controller of the magnetic drive motor conveying system can obtain the conveying parameters corresponding to the at least two input lines, and then determine the first input line with the highest conveying parameters and the output line of the at least two input lines as the main road, and determine the second input line except the first input line of the at least two input lines as the branch road; wherein, when there are multiple second input lines, that is, there are multiple branch roads, the higher the conveying parameters corresponding to the second input line, the higher the connection priority of the branch road corresponding to the second input line. The above-mentioned conveying parameters include at least one of the following: conveying capacity, conveying speed, number of processes to be conveyed, and preset conveying priority; the above-mentioned conveying capacity (Units Per Hour, UPH) characterizes the number of processes conveyed per hour by the input line. The conveying parameters corresponding to each of the above-mentioned at least two input lines can be, but are not limited to, determined according to the process information currently conveyed by each input line. The above-mentioned main road can be composed of a first input line body, a connecting module and a conveying line body spliced ​​in sequence, and the above-mentioned branch road can be composed of a second input line body or a second input line body and a connecting module spliced ​​in sequence.

[0107] It can be understood that the conveying process of the input line body is different, and the corresponding conveying parameters of the input line body are different. That is, for the same magnetic drive conveying line, different input line bodies may have different conveying parameters when performing different processes. For example, when conveying line body 1 is performing process 1, its UPH is the highest, so during the conveying process of process 1, conveying line body 1 is selected as the main road, and its connection priority is the highest; when conveying line body 1 is performing process 2, its UPH may be the lowest, so during the conveying process of process 2, conveying line body 1 may be a branch road, and its connection priority may not be the highest. That is, the embodiment of the present application defines the connection priority of each input line body by comparing its conveying parameters, so that the same line body has different connection priorities under different process conveying conditions, and only a single conveying parameter needs to be compared to improve universality.

[0108] It is understandable that when it is impossible to determine the connection priority of each conveying line body according to conveying parameters such as conveying capacity, conveying speed, and the number of processes to be conveyed, the user can also preset a certain input line body as the main road, and when there are multiple input lines, preset the connection priority between different input lines. That is, the preset conveying priority corresponding to each input line body is preset.

[0109] S202, obtaining a first target position on a first input line in a main road, and obtaining a second target position on a second input line in a branch road.

[0110] Specifically, the first target position includes the first target module length range closest to the docking module in the first input line, such as but not limited to Fig. 7A and Figure 7B The module length range (coordinate interval) corresponding to the stator closest to the docking module in the first input line body or the target module length (end position coordinate) corresponding to the end position of the stator closest to the docking module in the first input line body. The above-mentioned second target position includes the second target module length range closest to the docking module in the second input line body, such as but not limited to Fig. 7A and Figure 7B The module length range (coordinate interval) corresponding to the stator closest to the docking module in the second input line body or the target module length (end position coordinates) corresponding to the end position of the stator closest to the docking module in the second input line body is shown.

[0111] It can be understood that the mold length corresponding to the first target mold length range and the mold length corresponding to the second target mold length range may be the same or different, and this embodiment of the present application does not limit this.

[0112] Optionally, in the above S201, after determining the main road and the branch road based on the plurality of conveyor lines according to the first preset rule, in the above S202, before obtaining the first target position on the first input line in the main road and the second target position on the second input line in the branch road, as Figure 3 As shown, the first stator information of the main road can be obtained first, the second stator information of the branch road and the third stator information of the docking module can be obtained, and the first module length interval of the main road can be determined based on the first stator information, and the second module length interval of the branch road can be determined based on the second stator information and the third stator information. Any first module length in the above-mentioned first module length interval is different from any second module length in the above-mentioned second module length interval; the above-mentioned first module length is used to characterize the position of a point on the main road, and can be but not limited to determining the total length of the actual movement of the mover on the main road when it is at a certain point on the main road or the mapping value corresponding to the total length as the first module length corresponding to the mover on the main road (i.e., the position coordinates of the mover on the main road); the second module length is used to characterize the position of a point on the branch road, and can be but not limited to determining the total length of the actual movement of the mover on the main road when it is at a certain point on the branch road or the mapping value corresponding to the total length as the second module length corresponding to the mover on the branch road (i.e., the position coordinates of the mover on the branch road). In the embodiment of the present application, after determining the main roads and branch roads, by dividing the main roads and branch roads into different module length intervals, and setting different module lengths (position coordinates) for the points on the main roads and branch roads, it is easier to distinguish whether the mover is currently on the main road or the branch road according to the module length currently corresponding to the mover, thereby facilitating the control of the mover and route planning.

[0113] Furthermore, the first stator information of the main road includes the number of stators of the main road, the module length of each stator, and the number. The above-mentioned determination of the first module length interval of the main road based on the first stator information may include obtaining the starting position of the zero stator and the end position of the last stator of the main road in the first stator information, and determining the first module length interval of the main road according to the starting position of the zero stator and the end position of the last stator and the total module length of all stators of the main road. For example, but not limited to, the first starting module length corresponding to the starting position of the zero stator of the main road can be defined as 0. If the total module length of all stators of the main road is 3500, the first end module length corresponding to the end position of the last stator of the main road can be defined as 3500, and the first module length interval of the main road can be determined to be 0 to 3500. The number of stators of the above-mentioned main road is equal to the sum of the number of stators of the first input line body, the number of stators of the docking module, and the number of stators of the output line body. The number of the stator represents the connection order of the stator in the trunk, for example, stator number 0 is the starting stator (the first stator) in the trunk.

[0114] Furthermore, the second stator information of the branch road includes the number of stators of the branch road, the module length of each stator and the number. The third stator information includes the number of stators of the docking module, the module length of each stator and the number. The above-mentioned determination of the second module length interval of the branch road based on the second stator information and the third stator information may include obtaining the starting position of the zero stator and the end position of the last stator of the branch road in the second stator information, and determining the second module length interval of the branch road according to the starting position of the zero stator and the end position of the last stator and the total module length of all stators of the branch road. For example, but not limited to, the second starting module length corresponding to the starting position of the zero stator of the branch road can be defined as -10000. If the total module length of all stators of the branch road is 2000, the second end module length corresponding to the end position of the last stator of the branch road can be defined as -8000, and the second module length interval of the branch road can be determined to be -10000 to -8000. The number of stators of the above branch trunk is determined based on the docking position of the docking module and the third stator information of the docking module, for example Fig. 7A As shown, when the connecting module is connected to the main road, the number of stators of the branch road is equal to the number of stators of the second input line body. If the module length corresponding to the second input line body is 2000, the second module length range of the branch road can be determined to be -10000 to -8000; Figure 7B As shown, when the docking module is connected to the branch road, the number of stators of the above-mentioned branch road is equal to the sum of the number of stators of the second input line body and the number of stators of the docking module. If the module length corresponding to the second input line body is 2000, and the module length corresponding to the third module length interval of the docking module is 500, then it can be determined that the second module length interval of the branch road is -10000 to -75000.

[0115] It can be understood that the first starting modulus corresponding to the above-mentioned main road and the second starting modulus corresponding to the branch road can be but not limited to differing by at least one unit modulus length (for example, 10000). For example, when there are a main road, branch road 1, and branch road 2, the first starting modulus corresponding to the main road can be set to 0, the second starting modulus corresponding to branch road 1 can be set to -10000, and the second starting modulus corresponding to branch road 2 can be set to -20000. By making the starting modulus lengths of each road differ by at least one unit modulus length, it is ensured that the modulus length intervals corresponding to each road will not overlap, thereby avoiding the situation where the movers are in different roads but their corresponding modulus lengths (position coordinates) are the same, resulting in problems in the transportation control and the inability to accurately determine the docking result of the current docking module.

[0116] Furthermore, the above S202, obtaining the first target position on the first input line in the main road, and obtaining the second target position on the second input line in the branch road may include: obtaining the first target module length range closest to the connection module in the first input line of the main road based on the first module length interval, and obtaining the second target module length range closest to the connection module in the second input line of the branch road based on the second module length interval. The above first target module length range and the above second target module length range may be module length intervals, or module lengths (coordinates) corresponding to a single position point, which is not limited in the embodiments of the present application.

[0117] Furthermore, in order to more easily identify the docking priority of the main road where the mover is located, the rotation of the docking module can be more simply controlled according to the corresponding docking priorities of the main road and the branch road. The module length corresponding to the main road with high docking priority can be set to be greater than the module length corresponding to the main road with low docking priority. For example, but not limited to, the above-mentioned first module length is set to be greater than the second module length; and when there are multiple branch roads, the higher the docking priority corresponding to the branch road, the larger the corresponding second module length on the branch road.

[0118] S203: Determine a docking result corresponding to the docking module based on the mover information corresponding to the first target position and the second target position.

[0119] Specifically, Figure 4As shown, when there is a mover within the first target module length range and there is no mover within the second target module length range, or there is no mover within both the first target module length range and the second target module length range, or the number of movers within the first target module length range is saturated, the docking result corresponding to the docking module can be determined as connecting to the main road, thereby allowing the docking module to prioritize main road transportation and improve transportation efficiency; when there is no mover within the first target module length range and there is a mover within the second target module length range, or the number of movers within the first target module length range is not saturated and the number of movers within the second target module length range is saturated, the docking result corresponding to the docking module is determined as connecting to the branch road, thereby avoiding the accumulation of movers in the branch road and reducing the process efficiency of the branch road.

[0120] It can be understood that the first target module length range and the second target module length range are used as target module length ranges for re-evaluating the connection priority of the main roads and branch roads. When the mover is within this target module length range, the connection priority of the main roads and branch roads can be re-divided according to the position (module length) of the mover, and the connection result corresponding to the connection module can be determined.

[0121] Further, when the module length corresponding to the second target module length range is less than the length of the third module length interval corresponding to the connecting module, if the number of movers within the second target module length range is equal to the first maximum buffer amount within the second target module length range, it can be considered that the number of movers within the second target module length range is saturated, and the connecting module is connected to the second input line of the branch road; when the module length corresponding to the second target module length range is greater than or equal to the length of the third module length interval corresponding to the connecting module, if the number of movers within the second target module length range is equal to the second maximum buffer amount within the third module length interval corresponding to the connecting module, it can be considered that the number of movers within the second target module length range is saturated, and the connecting module is connected to the second input line of the branch road.

[0122] The embodiment of the present application compares the relative sizes of the third module length interval corresponding to the docking module (the module length corresponding to the third module length interval) and the module length corresponding to the second target module length range of the second input line body in the branch trunk, and determines the saturation of the number of movers within different second target module length ranges, so as to control the connection between the docking module and the second input line body of the branch trunk, which not only ensures the transportation efficiency of the branch trunk, but also avoids the problem that when the amount of movers cached within the second target module length range in the branch trunk is greater than the maximum number of movers that can be parked in the docking module, the docking module is connected to the branch trunk, resulting in the movers overflowing from the end of the docking module away from the second input line body or failing to transport the movers cached within the second target module length range to the output line body at one time by driving the docking module to rotate the docking.

[0123] It can be understood that in order to improve the conveying efficiency, multiple movers can be parked on the docking module at the same time. After the multiple movers are cached within the second target module length range, the multiple cached movers are driven to the docking module, thereby improving the conveying efficiency. That is, the docking module can realize the conveying of multiple movers at the same time.

[0124] It should be noted that since the connection priority of the main road is greater than that of the branch road, and the first input line and the output line on the main road can be directly connected through the connection module, the number of movers cached within the first target module length range on the main road does not need to be compared with the maximum number of movers cached on the connection module. Therefore, the number of movers within the first target module length range can be continuously obtained. When the number of movers within the first target module length range reaches saturation, the connection module is controlled to be connected to the main road.

[0125] S204: Based on the docking result, the docking module is controlled to rotate to a corresponding target docking position, so that the docking module is connected to the main road in the docking result.

[0126] Specifically, when the docking result is to dock the main road, the target docking position is the first target rotation position corresponding to the main road, and the rotary motor of the docking module can be controlled to drive the docking module to rotate to the first target rotation position, for example but not limited to Fig. 7A As shown, the docking module is connected to the main road; when the docking result is to connect to the branch road, the target docking position is the second target rotation position corresponding to the branch road, and the rotary motor of the docking module can be controlled to drive the docking module to rotate to the second target rotation position, for example but not limited to Figure 7B As shown, the connection module is connected to the branch road.

[0127] In the embodiment of the present application, the docking module is controlled to rotate to the corresponding target docking position through the motor information corresponding to the first target position on the first input line in the main road and the second target position on the second input line in the branch road, so as to control the docking module according to the actual operation conditions of the motors on the main road and the branch road to achieve more accurate and efficient rotation and docking. On the basis of giving priority to the transportation of the main road, it can also avoid, to a certain extent, the problem of reducing the process transportation efficiency of the branch road due to excessive motor buffering in the branch road caused by connecting to the main road.

[0128] Please refer to the following Figure 5 , which is a flow chart of another magnetic drive motor conveying method provided by an exemplary embodiment of this specification. Figure 5 As shown, the magnetic drive motor conveying method includes the following steps:

[0129] S501, according to the first preset rule, determine the main road and the branch road based on multiple conveyor lines. When there are no movers on the main road and the branch road, the connection priority of the main road is higher than the connection priority of the branch road.

[0130] Specifically, S501 is consistent with S201 and will not be described in detail here.

[0131] S502, obtaining a first target position on a first input line in a main road, and obtaining a second target position on a second input line in a branch road.

[0132] Specifically, S502 is consistent with S202 and will not be described in detail here.

[0133] S503, determining a docking result corresponding to the docking module based on the mover information corresponding to the first target position and the second target position respectively;

[0134] Specifically, S503 is consistent with S203 and will not be described in detail here.

[0135] S504: Based on the docking result, the docking module is controlled to rotate to the corresponding target docking position, so that the docking module is connected to the main road in the docking result.

[0136] Specifically, S504 is consistent with S204 and will not be described in detail here.

[0137] S505: According to a second preset rule, the movement of the mover on the main road and / or the branch road is controlled based on the target docking position.

[0138] Specifically, the main road includes a first starting mold length and a first terminal mold length, and the branch road includes a second starting mold length and a second terminal mold length. When the target docking position is the first target docking position corresponding to the main road, the mover on the main road can be controlled to run from the first starting mold length (the starting position of the main road) to the first terminal mold length (the terminal position of the main road); at this time, if there is a mover on the branch road, the mover on the branch road can also be controlled to run from the second starting mold length (the starting mold length of the second input line of the branch road) to the second terminal mold length (the terminal mold length of the second input line of the branch road). When the target docking position is the second target docking position corresponding to the branch road, the mover on the branch road is controlled to run from the second starting mold length (the starting mold length of the second input line of the branch road) to the second terminal mold length (the terminal mold length of the docking stator on the branch road docking module that is farthest from the branch road zero stator).

[0139] It can be understood that the docking position of the docking module can map the main road position and transportation direction of the docking module.

[0140] Alternatively, if Figure 6 As shown, in the above S505, according to the second preset rule, the implementation process of controlling the movement of the mover on the main road and / or the branch road based on the target docking position may include:

[0141] S601, determining a third module length interval where the docking module is located after being connected to the main road based on the target docking position.

[0142] Specifically, different target docking positions indicate that the docking modules correspond to different main roads for docking. Therefore, the third module length intervals corresponding to the docking modules are different. The lengths of the third module length intervals corresponding to the docking modules are the same, that is, they are equal to the sum of the lengths of all stators in the docking modules.

[0143] S602: Determine the continuous modulus length sections corresponding to the main road and the branch road respectively based on the target connection position and the third modulus length interval.

[0144] Specifically, when the target connection position is the first target rotation position corresponding to the main road, Fig. 7A As shown, the first sub-module length interval corresponding to the first input line body, the third module length interval corresponding to the connection module, and the second sub-module length interval corresponding to the output line body are sequentially spliced ​​to obtain the first module length continuous section corresponding to the main road, and the third sub-module length interval corresponding to the second input line body is determined as the second module length continuous section corresponding to the branch road; when the target connection position is the second target rotation position corresponding to the branch road, as shown in FIG. Figure 7B As shown, the two first module length continuous sections corresponding to the main road are determined to include the first sub-module length interval corresponding to the first input line body and the second sub-module length interval corresponding to the output line body. The third sub-module length interval corresponding to the second input line body and the third module length interval corresponding to the connecting module are sequentially spliced ​​to obtain the second module length continuous section corresponding to the branch road.

[0145] Exemplarily, the target docking position is a first target rotation position, such as Fig. 7A As shown, when the docking module is connected to the main road, the first input line body, the docking module, and the output line body are connected. For the main road, its first module length continuous section is the first module length interval, for example, 0 to 3500. At this time, if the first sub-module length interval corresponding to the first input line body is 0 to 1500, and the second sub-module length interval corresponding to the output line body is 2000 to 3500, it can be determined that the third module length interval corresponding to the docking module is 1500 to 2000. For the branch road, its second module length continuous section (i.e., the second module length interval) is the third sub-module length interval corresponding to the second input line body, for example, -10000 to -8000; the target docking position is the second target rotation position, as shown in FIG. Figure 7BAs shown, when the connecting module is connected to the branch road, the second input line body and the connecting module are connected. For the main road, its first module length continuous section is the first sub-module length interval corresponding to the first input line body, for example, 0 to 1500, and the second sub-module length interval corresponding to the output line body, for example, 2000 to 3500. For the branch road, if the third sub-module length interval corresponding to the second input line body is -10000 to -8000, and the module length corresponding to the connecting module length connected to it is 500, then it can be determined that the third module length interval corresponding to the connecting module is -8000 to -7500, and its second module length continuous section is the second module length interval -10000 to -7500 obtained by splicing the third sub-module length interval corresponding to the second input line body and the third module length interval corresponding to the connecting module.

[0146] S603, controlling the movers on the main road and / or branch road to move in the corresponding module length continuous section according to a preset program.

[0147] Specifically, the preset program may include, but is not limited to, a preset speed, a preset delivery time, and the like.

[0148] It can be understood that when the rotation of the connecting module causes the loss of part of the module length interval in a certain trunk, it will not affect the operation of the movers in other continuous module length sections of the trunk.

[0149] It should be noted that the transport direction of electrons on the docking module may be different on different trunk roads. For example, on the main trunk road, the transport of the docking module is from the first end to the second end. When the docking module is rotated to connect to the branch trunk road, the transport of the docking module can be changed to from the second end to the first end. Although the transport direction changes, the corresponding third module length intervals remain unchanged when the docking module connects the main trunk road and the branch trunk road. That is, for example, on the main trunk road, the first end of the docking module represents 1500 and the second end represents 2000, and its transport direction must be 1500~2000; on the branch trunk road, the first end of the docking module represents -8000 and the second end represents -7500, and its transport direction must be -7500~-8000. Therefore, although the conveying direction of the docking module changes, the corresponding third module length interval of the docking module in each trunk road remains unchanged, which avoids the problem of re-determining the conveying direction of the docking module after the docking position of the docking module changes. The conveying direction can be directly determined according to the decryption position of the docking module and the third module length interval of the docking module corresponding to the trunk road where the docking module is located, thereby ensuring the stability of transportation and the convenience of calculation.

[0150] Optionally, the above-mentioned controlling the movement of the mover on the main road and / or the branch road based on the target docking position according to the second preset rule may include: when the target docking position is the first target rotation position corresponding to the main road, for example but not limited to Fig. 7AAs shown, based on the first module length interval of the main road, the mover on the main road is controlled to move from the starting position of the main road (the starting module length of the zero stator of the main road) to the end position of the main road (the end module length of the stator at the end of the main road); when the target connection position is the second target rotation position corresponding to the branch road, for example but not limited to Figure 7B As shown, based on the second module length interval of the branch road, the mover on the branch road is controlled to move from the starting position of the branch road (the starting module length of the zero stator of the branch road) to the end position of the branch road (the end module length of the last stator of the branch road).

[0151] Please refer to the following Figure 8 , which is a structural schematic diagram of a magnetic drive motor conveying device provided by an exemplary embodiment of this specification. The magnetic drive motor conveying device is applied to a magnetic drive motor conveying system, which includes a plurality of conveying line bodies formed by splicing a plurality of stators in sequence along the conveying line direction, a mover magnetically coupled with the stator, and a docking module, wherein the docking module connects any two conveying line bodies between the plurality of conveying line bodies by rotation, and is used to transport the mover on one conveying line body to another conveying line body; Figure 8 As shown, the magnetic drive motor conveying device 800 includes:

[0152] The first determination module 810 is used to determine the main road and the branch road based on the plurality of conveyor lines according to a first preset rule; when there are no movers on the main road and the branch road, the connection priority of the main road is higher than the connection priority of the branch road;

[0153] A first acquisition module 820 is used to acquire a first target position on a first input line in the trunk road, and acquire a second target position on a second input line in the branch road;

[0154] A second determination module 830, configured to determine a docking result corresponding to the docking module based on the mover information corresponding to the first target position and the second target position;

[0155] The first control module 840 is used to control the docking module to rotate to a corresponding target docking position based on the docking result, so that the docking module is connected to the main road in the docking result.

[0156] In a possible implementation, the multiple transmission lines include at least two input lines and an output line; the first determination module 810 is specifically used to: obtain the transmission parameters corresponding to the at least two input lines; determine the first input line with the highest transmission parameter among the at least two input lines and the output line as the main road, and determine the second input line other than the first input line among the at least two input lines as the branch road; wherein, when there are multiple second input lines, the higher the transmission parameter corresponding to the second input line, the higher the connection priority of the branch road corresponding to the second input line.

[0157] In a possible implementation, the above-mentioned conveying parameters include at least one of the following: conveying capacity, conveying speed, the number of processes to be conveyed, and preset conveying priority; wherein the above-mentioned conveying capacity represents the number of processes conveyed by the above-mentioned input line body per hour; the processes conveyed by the above-mentioned input line body are different, and the conveying parameters corresponding to the above-mentioned input line body are different.

[0158] In a possible implementation, the magnetic drive motor conveying device 800 further includes:

[0159] A second acquisition module is used to acquire the first stator information of the main road, the second stator information of the branch road, and the third stator information of the connection module;

[0160] A third determination module is used to determine a first modulus length interval of the above-mentioned main road based on the above-mentioned first stator information, and to determine a second modulus length interval of the above-mentioned branch road based on the above-mentioned second stator information and the above-mentioned third stator information; any first modulus length within the above-mentioned first modulus length interval is different from any second modulus length within the above-mentioned second modulus length interval; the above-mentioned first modulus length is used to characterize the position of the point on the above-mentioned main road, and the above-mentioned second modulus length is used to characterize the position of the point on the above-mentioned branch road;

[0161] The above-mentioned first acquisition module 820 is specifically used to: obtain the first target module length range in the first input line body of the above-mentioned main road that is closest to the above-mentioned connecting module based on the above-mentioned first module length interval, and obtain the second target module length range in the second input line body of the above-mentioned branch road that is closest to the above-mentioned connecting module based on the above-mentioned second module length interval.

[0162] In a possible implementation, the first module length is greater than the second module length; when there are multiple branch roads, the higher the connection priority corresponding to the branch road is, the larger the corresponding second module length on the branch road is.

[0163] In a possible implementation, the first target position includes a first target module length range in the first input line body that is closest to the docking module, and the second target position includes a second target module length range in the second input line body that is closest to the docking module; the second determination module 830 is specifically used to: when there is a mover in the first target module length range, and there is no mover in the second target module length range, or there is no mover in both the first target module length range and the second target module length range, or the number of movers in the first target module length range is saturated, determine that the docking result corresponding to the docking module is to connect to the main road; when there is no mover in the first target module length range, and there is a mover in the second target module length range, or the number of movers in the first target module length range is not saturated, and the number of movers in the second target module length range is saturated, determine that the docking result corresponding to the docking module is to connect to the branch road.

[0164] In a possible implementation, the saturation of the number of movers within the second target module length range includes the following situations: when the module length corresponding to the second target module length range is less than the length of the third module length interval corresponding to the docking module, the number of movers within the second target module length range is equal to the first maximum buffer amount within the second target module length range; when the module length corresponding to the second target module length range is greater than or equal to the length of the third module length interval corresponding to the docking module, the number of movers within the second target module length range is equal to the second maximum buffer amount within the third module length interval corresponding to the docking module.

[0165] In a possible implementation, the magnetic drive motor conveying device 800 further includes:

[0166] The second control module is used to control the movement of the mover on the above-mentioned main road and / or the above-mentioned branch road based on the above-mentioned target docking position according to a second preset rule.

[0167] In a possible implementation, the second control module is specifically used to: determine the third module length interval in which the docking module is located after being connected to the main road based on the target docking position; determine the module length continuous sections corresponding to the main road and the branch road based on the target docking position and the third module length interval; control the movers on the main road and / or the branch road to move in the corresponding module length continuous sections according to a preset program.

[0168] In a possible implementation, the second control module is specifically used to determine the continuous module lengths corresponding to the main road and the branch road based on the target docking position and the third module length interval: when the target docking position is the first target rotation position corresponding to the main road, the first sub-module length interval corresponding to the first input line body, the third module length interval corresponding to the docking module, and the second sub-module length interval corresponding to the output line body are sequentially spliced ​​to obtain the first module length continuous section corresponding to the main road, and the third sub-module length interval corresponding to the second input line body is determined as the second module length continuous section corresponding to the branch road. segment; when the target docking position is the second target rotation position corresponding to the branch road, determine the two first module length continuous segments corresponding to the main road, and sequentially splice the third sub-module length interval corresponding to the second input line body and the third module length interval corresponding to the docking module to obtain the second module length continuous segment corresponding to the branch road; the two first module length continuous segments include the first sub-module length interval corresponding to the first input line body and the second sub-module length interval corresponding to the output line body; wherein, the target docking positions are different, the third module length intervals corresponding to the docking modules are different, and the lengths of the third module length intervals corresponding to the docking modules are the same.

[0169] In a possible implementation, the second control module is specifically used for: when the target docking position is the first target rotation position corresponding to the main road, based on the first module length interval of the main road, controlling the mover on the main road to move from the starting position of the main road to the end position of the main road; when the target docking position is the second target rotation position corresponding to the branch road, based on the second module length interval of the branch road, controlling the mover on the branch road to move from the starting position of the branch road to the end position of the branch road.

[0170] The division of the modules in the above-mentioned magnetic drive motor conveying device is only for illustration. In other embodiments, the magnetic drive motor conveying device can be divided into different modules as needed to complete all or part of the functions of the above-mentioned magnetic drive motor conveying device. The implementation of each module in the magnetic drive motor conveying device provided in the embodiment of the present application can be in the form of a computer program. The computer program can be run on a controller or a magnetic drive motor conveying system or server. The program modules constituted by the computer program can be stored in the memory of the controller or the magnetic drive motor conveying system or server. When the computer program is executed by the controller, all or part of the steps of the magnetic drive motor conveying method described in the embodiment of the present application are implemented.

[0171] See next Fig. 9 , which is a structural schematic diagram of a magnetic drive motor conveying system provided by an exemplary embodiment of this specification. Fig. 9As shown, the magnetic drive motor conveying system may include: at least one controller, a memory, a plurality of conveying line bodies formed by sequentially splicing a plurality of stators along the conveying line direction, a mover magnetically coupled with the stator, and a docking module; wherein:

[0172] The conveyor line body is used to drive the mover to carry out process transportation;

[0173] The connecting module connects any two conveying line bodies among the multiple conveying line bodies by rotation, and is used to transport the mover on one conveying line body to another conveying line body;

[0174] The controller is connected to the memory; the memory is used to store executable program code; the memory may include random access memory (RAM) or read-only memory (ROM). Optionally, the memory includes a non-transient computer-readable medium. The memory 950 can be used to store instructions, programs, codes, code sets or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as an acquisition function, a control function, a determination function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory may also be optionally at least one storage device located away from the aforementioned controller. The memory as a computer storage medium may include an operating system, a network communication module, a user interface module and program instructions.

[0175] The controller runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the method steps described in the above embodiments of this specification.

[0176] The present application also provides a computer-readable storage medium, which stores instructions, and when the instructions are executed on a computer or a controller, the computer or the controller executes one or more steps in the above embodiment. If the components of the above motor conveying device are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium.

[0177] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The above-mentioned computer program product includes one or more computer instructions. When the above-mentioned computer program instructions are loaded and executed on a computer, the above-mentioned process or function according to the embodiment of the present application is generated in whole or in part. The above-mentioned computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The above-mentioned computer instructions can be stored in a computer-readable storage medium or transmitted by the above-mentioned computer-readable storage medium. The above-mentioned computer instructions can be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (such as coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The above-mentioned computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrated. The above-mentioned available media can be magnetic media (for example, floppy disks, hard disks, tapes), optical media (for example, digital versatile discs (DVD)), or semiconductor media (for example, solid state disks (SSD)), etc.

[0178] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes. In the absence of conflict, the technical features in this embodiment and the implementation scheme can be combined arbitrarily.

[0179] The embodiments described above are merely preferred embodiments of this specification and are not intended to limit the scope of this specification. Without departing from the design spirit of this specification, various modifications and improvements made to the technical solutions of this specification by ordinary technicians in this field should fall within the scope of protection determined by the claims.

[0180] The above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims and the specification can be performed in an order different from that in the embodiment recorded in the specification and still achieve the desired results. In addition, the process depicted in the drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A magnetic drive motor conveying method, characterized in that: The method is applied to a magnetic drive motor conveying system, which comprises a plurality of conveying line bodies formed by sequentially splicing a plurality of stators along the conveying line direction, a mover magnetically coupled to the stators, and a docking module, wherein the docking module connects any two conveying line bodies among the plurality of conveying line bodies by rotation, and is used to transport the mover on one conveying line body to another conveying line body; the method comprises: According to a first preset rule, a main road and a branch road are determined based on the plurality of conveyor lines; when there are no movers on the main road and the branch road, the connection priority of the main road is higher than the connection priority of the branch road; Acquire the first stator information of the main road, acquire the second stator information of the branch road and the third stator information of the docking module; Determine a first module length interval of the main road based on the first stator information, and determine a second module length interval of the branch road based on the second stator information and the third stator information; any first module length within the first module length interval is different from any second module length within the second module length interval; Acquire a first target position on a first input line in the main road, and acquire a second target position on a second input line in the branch road; Determine a docking result corresponding to the docking module based on the mover information corresponding to the first target position and the second target position; Based on the docking result, the docking module is controlled to rotate to a corresponding target docking position, so that the docking module is connected to the main road in the docking result.

2. The method according to claim 1, characterized in that The plurality of conveying lines include at least two input lines and an output line; The determining of the main road and the branch road based on the plurality of conveyor lines according to the first preset rule includes: Obtaining the transmission parameters corresponding to the at least two input lines; The first input line body with the highest transmission parameter among the at least two input lines and the output line body are determined as the main road, and the second input line body except the first input line body among the at least two input lines is determined as the branch road; Among them, when there are multiple second input lines, the higher the transportation parameter corresponding to the second input line is, the higher the connection priority of the branch road corresponding to the second input line is.

3. The method according to claim 2, characterized in that The conveying parameters include at least one of the following: conveying capacity, conveying speed, number of processes to be conveyed, and preset conveying priority; The conveying capacity represents the number of processes conveyed by the input line body per hour; the conveying parameters corresponding to the input line body are different depending on the processes conveyed by the input line body.

4. The method according to claim 1, characterized in that The first modulus is used to characterize the position of a point on the main road, and the second modulus is used to characterize the position of a point on the branch road; The step of obtaining a first target position on a first input line in the main road and obtaining a second target position on a second input line in the branch road comprises: Based on the first modulus length interval, a first target modulus length range that is closest to the connection module in the first input line of the main road is obtained, and based on the second modulus length interval, a second target modulus length range that is closest to the connection module in the second input line of the branch road is obtained; the first modulus length is greater than the second modulus length; when there are multiple branch roads, the higher the connection priority corresponding to the branch road, the larger the corresponding second modulus length on the branch road.

5. The method according to claim 1, characterized in that The first target position includes a first target module length range in the first input line body that is closest to the docking module, and the second target position includes a second target module length range in the second input line body that is closest to the docking module; The determining the docking result corresponding to the docking module based on the mover information corresponding to the first target position and the second target position respectively includes: When there is a mover within the first target module length range, and there is no mover within the second target module length range, or there is no mover within both the first target module length range and the second target module length range, or the number of movers within the first target module length range is saturated, it is determined that the docking result corresponding to the docking module is to connect to the main road; When there is no mover within the first target module length range and there is a mover within the second target module length range, or the number of movers within the first target module length range is not saturated and the number of movers within the second target module length range is saturated, it is determined that the docking result corresponding to the docking module is to connect the branch road.

6. The method according to claim 5, characterized in that The saturation of the number of movers within the second target modulus range includes the following situations: When the module length corresponding to the second target module length range is less than the third module length interval length corresponding to the docking module, the number of movers within the second target module length range is equal to the first maximum buffer capacity within the second target module length range; When the module length corresponding to the second target module length range is greater than or equal to the length of the third module length interval corresponding to the docking module, the number of movers within the second target module length range is equal to the second maximum buffer capacity within the third module length interval corresponding to the docking module.

7. The method according to any one of claims 1 to 6, characterized in that: After controlling the docking module to rotate to a corresponding target docking position based on the docking result, the method further includes: According to a second preset rule, the movement of the mover on the main road and / or the branch road is controlled based on the target docking position.

8. The method according to claim 7, characterized in that The controlling the movement of the mover on the main road and / or the branch road based on the target docking position according to the second preset rule includes: Determine, based on the target docking position, a third module length interval in which the docking module is located after being connected to the trunk road; Determine the continuous modulus length sections corresponding to the main road and the branch road respectively based on the target docking position and the third modulus length interval; The movers on the main road and / or the branch road are controlled to move in the corresponding continuous sections of the module length according to a preset program.

9. The method according to claim 8, characterized in that The determining the continuous modulus length sections corresponding to the main road and the branch road respectively based on the target docking position and the third modulus length interval includes: When the target docking position is the first target rotation position corresponding to the main road, the first sub-module length interval corresponding to the first input line body, the third module length interval corresponding to the docking module, and the second sub-module length interval corresponding to the output line body are sequentially spliced ​​to obtain the first module length continuous section corresponding to the main road, and the third sub-module length interval corresponding to the second input line body is determined as the second module length continuous section corresponding to the branch road; When the target docking position is the second target rotation position corresponding to the branch road, two first module length continuous sections corresponding to the main road are determined, and the third submodule length interval corresponding to the second input line body and the third module length interval corresponding to the docking module are sequentially spliced ​​to obtain the second module length continuous section corresponding to the branch road; the two first module length continuous sections include the first submodule length interval corresponding to the first input line body and the second submodule length interval corresponding to the output line body; Among them, the target docking positions are different, the third module length intervals corresponding to the docking modules are different, and the lengths of the third module length intervals corresponding to the docking modules are the same.

10. The method according to claim 7, characterized in that The controlling the movement of the mover on the main road and / or the branch road based on the target docking position according to the second preset rule includes: When the target docking position is the first target rotation position corresponding to the main road, the mover on the main road is controlled to move from the starting position of the main road to the end position of the main road based on the first module length interval of the main road; When the target docking position is the second target rotation position corresponding to the branch road, the mover on the branch road is controlled to move from the starting position of the branch road to the end position of the branch road based on the second module length interval of the branch road.

11. A magnetic drive motor conveying device, characterized in that: The device is applied to a magnetic drive motor conveying system, which includes a plurality of conveying line bodies formed by sequentially splicing a plurality of stators along the conveying line direction, a mover magnetically coupled with the stator, and a docking module, wherein the docking module connects any two conveying line bodies among the plurality of conveying line bodies by rotation, and is used to transport the mover on one conveying line body to another conveying line body; the device includes: A first determination module is used to determine the main road and the branch road based on the plurality of conveyor lines according to a first preset rule; when there are no movers on the main road and the branch road, the connection priority of the main road is higher than the connection priority of the branch road; A first acquisition module is used to acquire a first target position on a first input line in the main road, and acquire a second target position on a second input line in the branch road; A second determination module, configured to determine a docking result corresponding to the docking module based on the mover information corresponding to the first target position and the second target position; A first control module, configured to control the docking module to rotate to a corresponding target docking position based on the docking result, so that the docking module is connected to a main road in the docking result; The magnetic drive motor conveying device also includes: A second acquisition module is used to acquire the first stator information of the main road, the second stator information of the branch road and the third stator information of the connection module; The third determination module is used to determine the first module length interval of the main road based on the first stator information, and determine the second module length interval of the branch road based on the second stator information and the third stator information; any first module length within the first module length interval is different from any second module length within the second module length interval.

12. A magnetic drive motor conveying system, characterized in that: include: A controller, a memory, a plurality of conveyor line bodies formed by sequentially splicing a plurality of stators along the conveyor line direction, a mover magnetically coupled to the stator, and a docking module; The conveyor line body is used to drive the mover to perform process conveying; The connecting module connects any two conveying line bodies among the plurality of conveying line bodies by rotation, and is used to transport the mover on one conveying line body to another conveying line body; The controller is connected to the memory; The memory is used to store executable program code; The controller runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the method according to any one of claims 1 to 10.

13. A computer storage medium storing a plurality of instructions, wherein the instructions are suitable for being loaded by a controller and executing the method steps according to any one of claims 1 to 10.

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