Article transmission control method, device, storage medium and article transmission system

Abstract

The present application discloses an article transfer control method, device, storage medium and article transfer system. The method includes: obtaining at least one transmission status signal, each transmission status signal is used to indicate the motion state of a first transport device, and the first transport device is a transmission transport device among multiple transmission transport devices for obtaining transmission status signals; based on each transmission status signal, controlling the corresponding mobile module in the first handover area to perform a movement adapted to the motion state of the first transport device to perform an article transfer operation, and the first handover area is an article transfer area corresponding to the first transport device among multiple article transfer areas. The present application solves the technical problem of how a linear magnetic drive device can transfer articles with other types of conveying equipment in the related art.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and more specifically, to an article transmission control method, device, storage medium and article transmission system. Background Art

[0002] The linear magnetic drive device includes a linear drive track and a mobile module. There is a magnetic coupling relationship between the linear drive track and the mobile module, and the mobile module can be driven to move along the linear drive track through the linear drive track. Therefore, the linear magnetic drive device can be used in the scene of object transportation.

[0003] However, with the diversification of item transportation scenarios, there are other types of transportation devices. Other types of transportation equipment use different transportation methods from linear magnetic drive devices. How to cooperate linear magnetic drive devices with other types of conveying equipment to achieve item handover needs to be solved by technical personnel in this field.

[0004] That is, there is a technical problem in the related art about how the linear magnetic drive device can transfer items with other types of conveying equipment. Summary of the invention

[0005] The embodiments of the present application provide an article transfer control method, device, storage medium and article transfer system, which at least solve the technical problem of how a linear magnetic drive device existing in the related art can transfer articles with other types of conveying equipment.

[0006] According to one aspect of an embodiment of the present application, there is provided an article transport control method, comprising: acquiring at least one transmission status signal, each transmission status signal being used to indicate a movement status of a first transport device, the first transport device being a transmission transport device among multiple transmission transport devices and being used to acquire the transmission status signal; based on each transmission status signal, controlling a mobile module in a corresponding first handover area to perform a movement adapted to the movement status of the first transport device, so as to perform an article handover operation, the first handover area being an article handover area among multiple article handover areas corresponding to the first transport device.

[0007] According to another aspect of an embodiment of the present application, an article transmission control device is also provided, including: an acquisition unit, used to acquire at least one transmission status signal, each transmission status signal is used to indicate the movement status of a first transport device, the first transport device is a transmission transport device among multiple transmission transport devices and is used to acquire the transmission status signal; a control unit, based on each transmission status signal, controls a mobile module in a corresponding first handover area to perform a movement adapted to the movement status of the first transport device so as to perform an article handover operation, the first handover area being an article handover area among multiple article handover areas corresponding to the first transport device.

[0008] According to another aspect of the embodiment of the present application, there is also provided an article transport system, the system comprising a linear magnetic drive device and a plurality of transmission transport devices; the linear magnetic drive device comprising a transmission control module, a linear drive track and a moving module, wherein: the linear drive track is provided with a plurality of article handover areas, each article handover area corresponds to a transmission transport device; the moving module is used to move along the linear drive track to pass through each article handover area; the transmission control module is used to obtain at least one transmission status signal indicating the motion state of the first transport device, and based on each transmission status signal, control the moving module in the corresponding first handover area to perform a movement adapted to the motion state of the first transport device to perform an article handover operation, the first handover area being an article handover area corresponding to the first transport device among the plurality of article handover areas, wherein each transmission status signal is used to indicate the motion state of the first transport device, the first transport device is a transmission transport device among the plurality of transmission transport devices for obtaining the transmission status signal, and the first handover area is an article handover area corresponding to the first transport device among the plurality of article handover areas.

[0009] According to another aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above article transport control method.

[0010] According to another aspect of an embodiment of the present application, there is also provided an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the item transport control method through the computer program.

[0011] Through the embodiments provided by the present application, based on at least one transmission status signal indicating the motion status of a transmission and transportation device, the mobile module in the article handover area corresponding to the indicated transmission and transportation device is controlled to make it perform a movement adapted to the indicated transmission and transportation device, and a motion coupling relationship is established between the mobile module in the linear magnetic drive device and the transmission and transportation device, thereby achieving effective coordination between the linear magnetic drive device and the transmission and transportation device, improving the article handover efficiency between the linear magnetic drive device and the transmission and conveying equipment, and also increasing the diversity of article transmission control. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0013] Figure 1 is a schematic diagram of a process of an optional article transport control method according to an embodiment of the present application;

[0014] Figure 2 is a schematic diagram of an operating environment of an optional article transport control method according to an embodiment of the present application;

[0015] Figure 3 is a schematic diagram of an optional method for controlling the transport of items according to an embodiment of the present application;

[0016] Figure 4 is a schematic diagram of an optional method for controlling the transport of items according to an embodiment of the present application;

[0017] Figure 5 is a schematic diagram of an optional method for controlling the transport of items according to an embodiment of the present application;

[0018] Figure 6 is a schematic diagram of an optional article transport control device according to an embodiment of the present application;

[0019] Figure 7 A schematic structural diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution 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. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] An embodiment of the present application provides an item transfer control solution, which can be applied to, but is not limited to, an item handover scenario based on a linear magnetic drive device. In this scenario, a transmission status signal from at least one transmission transmission device is obtained, and based on the obtained transmission status signal, the movement of a mobile module in the linear magnetic drive device corresponding to the transmission status signal is controlled to match the movement of the transmission transmission device corresponding to the transmission status signal to perform material handover.

[0023] As an optional implementation, Figure 1 As shown, the method is applied to a linear magnetic drive device, the linear magnetic drive device includes a linear drive track and a moving module, the linear drive track is provided with a plurality of object handover areas, each object handover area corresponds to a transmission transport device, and the moving module is used to move along the linear drive track to pass through each object handover area; the specific steps may include:

[0024] S102, obtaining at least one transmission state signal, each transmission state signal being used to indicate a motion state of a first transport device, the first transport device being a transmission transport device among a plurality of transmission transport devices for obtaining the transmission state signal;

[0025] S104, based on each transmission state signal, controlling the mobile module in the corresponding first handover area to move in accordance with the motion state of the first transport device to perform an item handover operation, the first handover area being an item handover area corresponding to the first transport device among multiple item handover areas.

[0026] In this embodiment, the linear magnetic drive device may include a linear drive track and a moving module. The moving module and the linear drive track are movably connected. The thrust is generated by controlling the magnetic field between the linear drive track and the moving module to drive the moving module to move relative to the linear drive track.

[0027] Specifically, the mobile module may include a magnetic unit, which causes the mobile module to have a magnetic field, and the magnetic unit may include a magnetized component (such as a permanent magnet) or an excitation component (such as a coil that can generate a magnetic field after power is turned on). The linear drive track is fixedly arranged to provide thrust and movement guidance for the mobile module. Among them, the linear drive track is composed of a plurality of mobile modules, and the linear drive track may include an excitation component or a magnetized component. The magnetic field of the linear drive track interacts with the magnetic field of the mobile module to form a thrust, and the thrust acts on the mobile module, so that the mobile module moves relative to the linear drive track.

[0028] A plurality of article handover areas are arranged around the linear drive track, each of which corresponds to a transmission transport device, and the moving module is used to move along the linear drive track to pass through the article handover area.

[0029] It should be noted that the object transport control method of the embodiment of the present application can be but is not limited to being applied to automated transportation scenarios of magnetic drive motor equipment.

[0030] In an optional example, if Figure 2 As shown, the linear magnetic drive device 202 includes a linear drive track 204 and a plurality of moving modules 2 (such as Figure 2 The linear drive track 204 is provided with a plurality of article transfer areas (such as the mobile module 206 and the mobile module 208 in FIG. 1 ). Figure 2 The article transfer area 210 and the article transfer area 212 are respectively corresponding to the transmission and transportation device 214 and the article transfer area 212 corresponds to the transmission and transportation device 216.

[0031] Specifically, taking the mobile module 206 as an example, the control end 218 obtains the transmission state signal ( Figure 2 At least one transmission status signal includes a transmission status signal generated by the transmission transport device 214), that is, the first transport device indicated by the transmission status signal generated by the movable transport device 214 is the transmission transport device 214, and according to the corresponding relationship between the article handover area and the transmission transport device, the transmission transport device 214 corresponds to the article handover area 210, that is, the first handover area corresponding to the first transport device indicated by the transmission status signal generated by the movable transport device 214 is the article handover area 210, and then based on the transmission status signal generated by the movable transport device 214, the mobile module 206 in the article handover area 210 corresponding to the transmission transport device 214 is controlled to move in accordance with the movement state of the transmission transport device 214, so as to transfer the articles ( Figure 2 The solid ball in the middle) is transferred to the transmission and transportation device 214.

[0032] Similarly, taking the mobile module 208 as an example, the controller 218 obtains the transmission state signal of the transmission transport device 216, and determines the corresponding article delivery area 212 based on the transmission state signal of the transmission transport device 216, and then controls the mobile module 208 in the article delivery area 212 to move in accordance with the transmission transport device 216, so as to transfer the articles ( Figure 2 The solid square in the figure) is connected to the mobile module 208.

[0033] It is understandable that the present application does not limit the specific number and type of transmission and transportation devices, nor does it limit the movement direction of each transmission and transportation device, and the corresponding article delivery method.

[0034] It can also be understood that the above examples are only for illustrative description. According to actual conditions, the control end may be included in the linear magnetic drive device, or the control end may be connected to the linear magnetic drive device as an independent entity. In addition, according to actual conditions, the control end may be a module, a device, a device, a circuit, etc., and the embodiments of the present application do not limit the actual location and specific form of the control end.

[0035] In an optional example, the transmission transport device may be but is not limited to a rotating transport device, which transports items by rotating. During the rotation process, the rotating transport device may transfer the items to the mobile module, or obtain the items transferred by the mobile module.

[0036] In an optional embodiment, the transmission transport device may also be but is not limited to a belt transport device, which transports items by belt movement. During the belt movement, the transmission transport device can transfer items to the mobile module, or obtain items transferred by the mobile module.

[0037] It is understood that, for the plurality of transmission transport devices, at least some of them may be rotating transport devices or at least some of them may be belt transport devices. Figure 2 As shown, the plurality of transmission and transport devices may include a transmission and transport device 214 and a transmission and transport device 216. For example, Figure 3 As shown, the plurality of transmission transport devices may include a belt transport device 314 and a belt transport device 316. Also, for example, Figure 4 As shown, the plurality of drive conveyors may include a drive conveyor 414 and a belt conveyor 416 .

[0038] In an optional embodiment, based on each transmission transport device, a corresponding transmission state signal can be obtained. According to the corresponding relationship between the transmission transport device and the transmission state signal, the transmission state signal is used to indicate the motion state of the transmission transport device as the acquisition source, wherein the motion state of the transmission transport device includes a transmission state or a stationary state, and the transmission state signal can indicate that the transmission transport device as the acquisition source is in a transmission state or a stationary state. Further, the transmission state signal can also indicate the transmission state information of the transmission transport device as the acquisition source in the state in which it is located, and the transmission state information can include: at least one of transmission speed information and transmission distance information. In order to simplify the description, the transmission transport device as the acquisition source can be referred to as the first transport device.

[0039] Since multiple item handover areas correspond one-to-one to multiple transmission and transport devices, that is, each item handover area corresponds to a transmission and transport device, after obtaining a transmission status signal, through the correspondence between transmission and transport devices, and the correspondence between transmission status signals and transmission and transport devices, an item handover area corresponding to an obtained transmission status signal, that is, the first handover area, can be determined from multiple item handover areas.

[0040] Based on each transmission state signal, the corresponding moving module in the first handover area is controlled to perform a movement adapted to the movement state of the first transport device, so as to perform an article handover operation.

[0041] Controlling the moving module to move in accordance with the movement state of the first transport device may be specifically understood as controlling the movement state information of the moving module to be adapted to the transmission state information of the first transport device. The movement state information may include at least one of movement speed information and movement distance information.

[0042] During the article transfer operation, the article may be transferred from the mobile module to the transmission and transportation device, or from the transmission and transportation device to the mobile module, but is not limited to the transfer.

[0043] It should be noted that the mobile module may be provided with a clamping component for clamping and releasing items to obtain items; the mobile module may be provided with a storage component to place items. Under the premise that the item handover process can be realized, the embodiment of the application does not limit the specific component types of the transmission and transportation device.

[0044] It should also be noted that the transmission and transport device may be provided with a clamping component for clamping and releasing items to obtain items; the transmission and transport device may be provided with a storage component to place items. Under the premise that the item handover process can be realized, the embodiment of the application does not limit the specific component types of the transmission and transport device.

[0045] It is understandable that the same mobile module may be in different article transfer areas at different times, and the article transfer operations performed with the transmission and transportation devices in different article transfer areas may also be different.

[0046] For example, Figure 3 As shown, the moving module 306 and the moving module 308 can be understood as different moving modules at the same time. In addition, they can also be understood as the states of the same moving module at different times. Taking the moving module 306 and the moving module 308 as moving modules at different time states as an example, the moving module 306 completes the first item ( Figure 3The solid circular object in the figure is transferred to the belt structure 314 (the dotted line portion) of the transmission and transport device for an object transfer operation, and then leaves the object transfer area 310, and then enters the object transfer area 312. At the second time point, the mobile module 308, as a mobile module, obtains the second object ( Figure 3 ), and holds the second object to leave the object transfer area 312.

[0047] And, for example, Figure 4 As shown, the moving module 406 and the moving module 408 can be understood as different moving modules at the same time. In addition, they can also be understood as the states of the same moving module at different times. Taking the moving module 406 and the moving module 408 as moving modules at different time states as an example, the moving module 406 completes the first item ( Figure 4 ) is transferred to the transmission and transport device 414 for an item transfer operation, then leaves the item transfer area 410, and then enters the item transfer area 412. At the second time point, as the mobile module 408, the second item ( Figure 4 ), and holds the second object away from the object transfer area 412.

[0048] Through the embodiments provided by the present application, based on at least one transmission status signal indicating the motion status of a transmission and transport device, the mobile module in the article handover area corresponding to the indicated transmission and transport device is controlled to make it perform a movement adapted to the indicated transmission and transport device, and a motion coupling relationship is established between the mobile module in the linear magnetic drive device and the transmission and transport device, thereby achieving effective coordination between the linear magnetic drive device and the transmission and transport device, improving the article handover efficiency between the linear magnetic drive device and the transmission and conveying equipment, and also increasing the diversity of article transmission control.

[0049] In practical applications, the transmission and transportation device can be a device that adopts one or more combinations of friction transmission and meshing transmission. Among them, friction transmission includes belt transmission, rope transmission and friction wheel transmission, and meshing transmission includes gear transmission, chain transmission, spiral transmission and harmonic wave transmission.

[0050] As can be seen from the above description, the indication object of the transmission state signal corresponds to the acquisition source of the transmission state signal, that is, the transmission state signal is used to indicate the motion state of the transmission transport device as the acquisition source. In actual operation, multiple transmission state signals may be obtained, and it is necessary to distinguish the specific source of the transmission state signal, that is, to distinguish which of the multiple transmission transport devices each transmission state signal comes from, so as to determine the indication object of the transmission state signal.

[0051] In an optional example, the transmission state signal may further include identification information for identifying the transmission transport device, such as device identification information, and the device identification information is unique. Based on this, when a transmission state signal is obtained, the device identification information contained in the transmission state signal may be obtained by performing signal analysis on the transmission state signal, and then the transmission transport device from which the transmission state signal specifically comes may be determined according to the device identification information, thereby determining which transmission transport device's motion state is specifically indicated by the transmission state signal.

[0052] In another optional example, the control end is a specific interface for transmission status signals from different transmission transport devices. Based on this, when a transmission status signal is obtained, it is possible to determine which transmission transport device the transmission status signal specifically comes from by obtaining the interface of the transmission status signal, thereby determining which transmission transport device the transmission status signal specifically indicates the motion state of.

[0053] As an optional scheme, the linear drive track is also provided with at least one mobile buffer area, and the mobile buffer area does not correspond to the transmission transport device. In other words, the mobile buffer area and the article handover area are independent of each other; the method may also include: among multiple article handover areas, determining a second handover area corresponding to a mobile module in the mobile buffer area, and controlling the mobile module in the mobile buffer area to move to the second handover area.

[0054] In other words, the second handover area can be understood as the article handover area to be reached by the mobile module in the mobile buffer area. Since the mobile buffer area does not correspond to the transmission transport device, the mobile module in the mobile buffer area may not be controlled by the transmission state signal.

[0055] It is understandable that, for the convenience of description and understanding, there are two concepts of "first handover area" and "second handover area" for different reference objects (such as transmission status signals and mobile modules in the mobile buffer area), and in actual operation, the first handover area and the second handover area can point to the same item handover area. Specifically, by controlling the mobile module in the mobile buffer area to move toward the item handover area as the second handover area, and after the mobile module reaches the item handover area as the second handover area, the item handover area is used as the first handover area, and after obtaining the transmission status signal indicating the motion state of the corresponding transmission transport device (i.e., the first transport device), the mobile module is controlled to move in a manner adapted to the motion state of the first transport device.

[0056] To further illustrate, Figure 5 As shown, the linear magnetic drive device 502 includes a linear drive rail 504 and a plurality of moving modules (eg Figure 5 The moving modules 506 and 508 are shown in the figure, wherein the linear drive track 504 includes a plurality of item transfer areas (e.g. Figure 5 The item handover area 510 and the item handover area 512 are shown in the figure, each item handover area corresponds to a transmission and transportation device, such as the transmission and transportation device 514 corresponding to the item handover area 510 and the transmission and transportation device 516 corresponding to the item handover area 512. There may be but are not limited to moving buffer areas between the item handover areas, such as the moving buffer area 518 on the left side of the item handover area 510 and the moving buffer area 520 between the item handover area 510 and the item handover area 512.

[0057] Further, taking the mobile module 506 as an example, since the mobile module 506 is currently in the mobile buffer area 518, after receiving the transmission status signal, the item handover area 510 that is closest to the mobile buffer area 518 and along the moving direction is determined as the second handover area, and then the mobile module 506 is controlled to perform movement adapted to the transmission transport device 514 corresponding to the item handover area 510 when entering the second handover area (i.e., the item handover area 510) from the buffer area 508.

[0058] Through the embodiments provided in the present application, by setting a mobile buffer area, a buffer time for confirming the second handover area can be provided for the mobile module, thereby ensuring that the mobile module moves to the correct item handover area.

[0059] As an optional solution, among the multiple article handover areas, determining the second handover area corresponding to the mobile module in the mobile buffer area may include:

[0060] According to the position information of the mobile module in the mobile buffer area, a second handover area corresponding to the mobile module in the mobile buffer area is determined from the plurality of article handover areas.

[0061] In an optional embodiment, a second handover area is determined from multiple item handover areas. The second handover area can be determined as the second handover area by combining the position information of the mobile module in the mobile buffer area and the position information of each item handover area.

[0062] It is understandable that the item handover area is set based on the linear drive track, and the coordinate axis can be established by the linear drive track, so that each item handover area is represented by a coordinate method. In addition, in order to reduce the amount of data, the position information of the item handover area can be represented by the position information of the boundary points of the item handover area, for example, the position information of the item handover area can be represented by the position information of the boundary points of the item handover area.

[0063] In an optional embodiment, the position information of the mobile module in the mobile cache area can be obtained by computer program calculation or hardware acquisition. The hardware acquisition method can be, but is not limited to: 1) acquiring the position information of the mobile module in the mobile cache area by using an internal sensor; 2) acquiring the position information of the mobile module in the mobile cache area by using an external sensor.

[0064] Through the embodiments provided in the present application, combined with the position information of the mobile module in the mobile cache area, a second handover area is determined from multiple item handover areas, and a movement that is compatible with the movement state of the transmission and transportation device is performed to perform item handover operations, thereby improving the item transmission control efficiency and further improving the item handover efficiency.

[0065] As an optional solution, determining the second handover area from a plurality of item handover areas according to the position information of the mobile module in the mobile buffer area includes at least one of the following:

[0066] S1, when the mobile modules in the mobile buffer area are in a stationary state, according to the position information of the mobile modules when they are stationary and the distribution of multiple item handover areas, determining the order in which the mobile modules in the mobile buffer area enter each item handover area, and determining the second handover area according to the entry order of the mobile modules in the mobile buffer area;

[0067] S2, when the mobile module in the mobile buffer area is in a moving state, determine a second handover area according to the position information, the moving direction and the distribution of the plurality of object handover areas of the mobile module in the mobile buffer area when the mobile module is moving.

[0068] It can be understood that, from the article handover areas that each mobile module has not yet entered according to the moving direction, the article handover interval closest to the mobile module is determined, and the article handover area is determined as the second handover area.

[0069] In an optional embodiment, a selection algorithm implemented by a computer program for determining a second handover area from a plurality of item handover areas is as follows:

[0070] Fi=a1×F1+a2×F2+……+am×Fm

[0071] Among them, Fi refers to the second handover area of ​​the i-th mobile module, F1 refers to the first item handover area, F2 refers to the second item handover area, and so on, Fm refers to the m-th item handover area; a1, a2 to am are the coefficients of each item handover area, and the values ​​of a1, a2 to am are 1 or 0 respectively.

[0072] Specifically, assuming that the i-th mobile module starts from the mobile buffer area, a[i]=1, and the other coefficients are 0. When the position of the mobile module coincides with the starting position indicated by F0 (or the position arrival signal sent by the sensor at F0 is received), it is determined that the mobile module has arrived at the first linkage area; when the mobile module leaves the first linkage area, a[i]=0, b[i]=1, and the other coefficients are the same as above (equivalent to the fact that the coefficients other than a[i] and b[i] do not change).

[0073] It should be noted that, assuming that the mobile module is in a moving state, it is necessary to determine the closest linkage area through the position information of the mobile module, the moving direction and the starting position of each linkage area, and set the corresponding coefficient to 1, and set the coefficient corresponding to the previous synchronization area of ​​the closest linkage area to 0, and the coefficient of the subsequent linkage area of ​​the closest synchronization area remains unchanged.

[0074] Through the embodiments provided in the present application, the second handover area is selected in combination with the position of the mobile module of the mobile cache area using a selection algorithm calculated by software. The execution process is fast and efficient, which improves the control efficiency of item transmission and is independent of hardware, thus reducing hardware costs.

[0075] It is understandable that the computer program related to the selection algorithm can be stored in the control terminal for executing the above-mentioned article transmission control method or in a host computer connected to the control terminal. When stored in the host computer, after the host computer executes the computer program related to the selection algorithm to determine the second handover area corresponding to the mobile module in the mobile buffer area, the position information of the second handover area and the mobile module information corresponding to the second handover area can be sent to the control terminal, thereby reducing the computing pressure of the control terminal and improving the control efficiency of the control terminal.

[0076] As an optional solution, after determining the second handover area corresponding to the mobile module in the mobile buffer area, the method further includes:

[0077] The first speed information of the mobile module in the mobile buffer area is adjusted to match the second speed information corresponding to the second handover area, wherein the second speed information is pre-set based on the transmission speed of the transmission transportation device corresponding to the second handover area, or the second speed information is determined based on the transmission status signal corresponding to the second handover area.

[0078] In this embodiment, the second speed information may be, but is not limited to, a pre-set transmission speed of the corresponding transmission and transport device, wherein the second speed information corresponding to each second handover area is the transmission speed of the corresponding transmission and transport device. That is, the second speed information corresponding to different second handover areas may be the same or different, and the specific speed value is determined by the transmission and transport device corresponding to the area.

[0079] It should be noted that, when the transmission transport device is a rotating transport device, the transmission speed is the rotation speed. Since the motion trajectory of the rotating transport device is an arc, and the motion trajectory of the mobile module is a straight line, the second speed information can be, but is not limited to, converted based on the rotation speed of the rotating transport device.

[0080] It should be noted that, when the transmission conveyor device is a belt conveyor device, since the motion trajectories of the belt conveyor device and the moving module are both straight lines, the second speed information may be, but is not limited to, the moving speed of the belt conveyor device.

[0081] It should also be noted that the second speed information can also be determined based on, but not limited to, a transmission state signal corresponding to the second handover area, wherein a transmission state signal can be used to obtain the transmission speed information of the corresponding transmission transport device by signal analysis.

[0082] Through the embodiments provided by the present application, after determining the second handover area corresponding to the mobile module in the mobile buffer area, the first speed information of the mobile module in the mobile buffer area can be adjusted according to the second speed information corresponding to the second handover area, so that when the mobile module reaches the second handover area, it can have a moving speed that matches the transmission speed of the corresponding transmission transportation device, which is conducive to realizing the item handover operation.

[0083] As an optional solution, before controlling the corresponding mobile module in the first handover area to perform a movement adapted to the movement state of the first transport device, the method further includes:

[0084] In the case where it is detected that there is a mobile module that has reached the starting position of the first handover area, the transmission and transportation device corresponding to the first handover area is controlled to establish a binding relationship with the detected mobile module.

[0085] In an optional embodiment, it is possible but not limited to first obtaining the position information of the mobile module, and then verifying the position information of the mobile module to verify whether the mobile module has arrived at the starting position of the first handover area, wherein, when the mobile module arrives at the starting position of the first handover area, it is determined that the mobile module begins to be controlled by the transmission status signal and a binding relationship is established.

[0086] For example, assuming that there are mobile module A and mobile module B, when it is detected that mobile module A arrives at the starting position of the first handover area, if a transmission status signal is obtained, the movement of mobile module A is controlled based on the transmission status signal; when it is detected that mobile module B does not arrive at the starting position of the first handover area, even if the transmission status signal is obtained, the movement of mobile module B is not controlled.

[0087] It should be noted that the starting position of the first handover area is a linkage starting position set in the linear drive track, corresponding to the linkage starting position set in the transmission and transport device (hereinafter referred to as the starting position of the transmission and transport device).

[0088] The linkage starting position of the above-mentioned transmission and transport device can be the position of the transmission and transport device when it is in a stationary state, for example, the position of the transmission and transport device when it is in a stationary state based on a reference position selected on the belt structure on the transmission and transport device; it can also be the position set when the transmission and transport device is in a moving state, for example, the front position that has not yet been reached by movement, and then a corresponding control strategy can be set to make the transmission and transport device move to the set front position and the mobile module move to the starting position of the first handover area, and ensure that the subsequent movement states of the two match.

[0089] It can be understood that when the transmission transport device is in the starting position of the above-mentioned transmission transport device and the transmission transport device is started and the mobile module is moved to the starting position of the above-mentioned first handover area, the storage area on the transmission transport device is moved to a suitable area to carry out subsequent item handover processing with the mobile module.

[0090] It should be noted that the transmission and transport device includes one or more storage areas, which are used to place items. In order to ensure that the position of the mobile module corresponds to the storage area, it is necessary to ensure that when the mobile module reaches the starting position of the above-mentioned first handover area, the position of the storage area on the transmission and transport device is at the starting position of the above-mentioned transmission and transport device.

[0091] Through the embodiments provided by the present application, by setting the starting position of the first handover area, a starting position of an associated motion area is used as the starting position of an associated motion area for associated motion between the mobile module and the transmission and transport device corresponding to the first handover area, and the starting position of the first handover area can be adjusted and set according to actual needs, thereby achieving the purpose of flexibly adjusting the above-mentioned associated motion area, thereby achieving the technical effect of improving the control flexibility of the synchronous motion between the mobile module and the transmission and transport device, thereby further improving the flexibility and efficiency of item transmission.

[0092] It should be noted that the starting position of the first handover area can be verified by setting software or hardware. For example, the monitoring position is set with the linear drive track as the coordinate axis, and the position information of each mobile module is dynamically calculated by a software program to determine the time and order of each mobile module passing the starting position of the first handover area. For another example, an inductive sensor (such as a magnetic sensor, an optical sensor, etc.) is set corresponding to the monitoring position of the linear drive track, and a trigger signal can be generated when the mobile module passes through the trigger sensor, thereby determining the time and order of the mobile module passing the starting position of the first handover area, wherein the inductive sensor can be contact-connected or contactlessly connected to the stator line.

[0093] Through the embodiments provided in the present application, when the starting position verification of the first handover area is implemented by software calculation, the dependence on external hardware can be avoided, thereby achieving the purpose of reducing hardware costs; when the starting position verification of the first handover area is implemented by hardware detection, the verification accuracy and verification speed of the starting position of the first handover area can be improved, and the amount of calculation of the control module can be reduced.

[0094] As an optional solution, after controlling the mobile module in the corresponding first handover area to perform a movement adapted to the movement state of the first transport device, the method further includes:

[0095] When it is detected that there is a mobile module that has reached the end position of the first handover area, the binding relationship between the transmission and transportation device corresponding to the first handover area and the detected mobile module is released.

[0096] In an optional embodiment, it is possible but not limited to first obtaining the position information of the mobile module, and then verifying the position information of the mobile module to verify whether the mobile module has reached the end position of the first handover area, wherein when the mobile module reaches the end position of the first handover area, it is determined that the mobile module begins to be controlled by the transmission status signal and the binding relationship is released.

[0097] For example, assuming that there are mobile module C and mobile module D that have passed the starting position of the first handover area, when it is detected that mobile module C has arrived at the end position of the first handover area, the movement control of mobile module C based on the transmission status signal is canceled; when it is detected that mobile module D has not arrived at the end position of the first handover area, the movement control of mobile module D based on the transmission status signal continues.

[0098] It should be noted that the end position of the first handover area can be set by, but is not limited to, the same setting strategy as the start position of the first handover area, which will not be described in detail in this embodiment.

[0099] It should also be noted that after determining that the mobile module begins to be controlled by the transmission state signal and the binding relationship is released, the mobile module can be controlled to move along the original direction of movement, but is not limited to. For example, the mobile module can be controlled to move in the direction of driving out of the above-mentioned end position, and the moving speed can be higher than the moving speed during the synchronization process. After the mobile module moves to the specified position, it can continue to perform subsequent work, for example, go back to the above-mentioned starting position, re-link with the transmission and transportation device, and complete the handover of another object during the linkage process.

[0100] As another optional implementation, the mobile module is controlled to make a return movement after leaving the above end position. At this time, the mobile module can decelerate first after leaving the above end position or decelerate after moving to the specified position, and after decelerating to 0, it will be linked with the transmission and transportation device to the above end position or the above starting position on this side. Considering the need for object docking, the mobile module can first place the object docked to the mobile module to the specified placement position and then make a return movement, or first take the next object and then make a return movement.

[0101] Through the embodiments provided by the present application, by setting the end position of the first handover area, the end position of the synchronization area in which the mobile module and the transmission and transportation device corresponding to the first handover area perform synchronous movement is used, and the end position of the first handover area can be adjusted and set according to actual needs, thereby achieving the purpose of flexibly adjusting the above-mentioned synchronization area, thereby achieving the technical effect of improving the control flexibility of the synchronous movement between the mobile module and the transmission and transportation device, thereby further improving the flexibility and efficiency of item transmission.

[0102] As an optional solution, at least two article handover areas are arranged adjacent to each other, and the transmission transport devices corresponding to the adjacent article handover areas have the same transmission speed.

[0103] In this embodiment, when there are at least two item handover areas arranged adjacent to each other, that is, when there is no moving buffer area between the at least two item handover areas, the corresponding at least two transmission transport devices are set to have the same transmission speed, and the moving module is set to move in the at least two item handover areas at the same moving speed that matches the transmission speed of the at least two transmission transport devices.

[0104] It should be noted that, in the process of the mobile module moving through the at least two article handover areas mentioned above, at least one article loading operation (transferring the articles from the mobile module to the transmission and transport device) and at least one article unloading operation (transferring the articles from the transmission and transport device to the mobile module) can be performed but is not limited to. The specific number of operations and the order of operations of the article loading and unloading operations are not limited in the embodiments of the present application. According to actual needs, the number of at least two article handover areas and the corresponding article loading or unloading properties of the at least two transmission and transport devices (that is, whether the transmission and transport device is set for article loading or for article unloading) can be set accordingly.

[0105] Through the embodiments provided in the present application, in a plurality of adjacently arranged article handover areas, the article handover operation between the mobile module and a plurality of transmission and transportation devices can be flexibly controlled, thereby improving the efficiency of article transmission.

[0106] As an optional solution, based on each transmission state signal, controlling the corresponding mobile module in the first handover area to perform a movement adapted to the movement state of the first transport device to perform an article handover operation includes any of the following:

[0107] Based on the first transmission state signal, controlling the moving module in the first handover area to hand over the article to the first transport device in the first handover area;

[0108] Based on the first transmission state signal, the moving module in the first handover area is controlled to obtain the objects handed over by the first transport device in the first handover area.

[0109] In this embodiment, the mobile module in the first handover area may be controlled, but is not limited to, to hand over the item to the first transport device in the first handover area. Figure 1 The mobile module 106 shown in the figure moves the items ( Figure 1 The solid round object shown in the figure) is transferred to the transmission transport device 114.

[0110] In this embodiment, it is also possible but not limited to control the mobile module in the first handover area to obtain the items handed over by the first transport device in the first handover area, such as Figure 1 The mobile module 108 shown in the figure obtains the item from the transmission transport device 116 in the item transfer area 112 ( Figure 1solid square items shown).

[0111] It should be noted that the present embodiment neither limits the type of transmission and transport device nor limits the order or method of transferring items between the transmission and transport device and the mobile module. That is, the type and quantity of transmission and transport devices can be flexibly set according to actual needs, as well as the method of transferring items (loading or unloading items) of each transmission and transport device, thereby improving the flexibility and efficiency of item transfer.

[0112] As an optional solution, controlling the corresponding mobile module in the first handover area to perform a movement adapted to the movement state of the first transport device may include but is not limited to:

[0113] S1, responding to a transmission state signal, determining first movement information corresponding to the transmission state signal, and controlling the moving module to move along a linear drive track according to the first movement information, wherein the first movement information includes at least one of first movement distance information and first movement speed information.

[0114] In this embodiment, the movement process of the mobile module can be controlled but not limited to by the first movement information, and the first movement information is used to control the movement state quantity of the mobile module based on one or more of the movement speed and the movement distance of the transmission state signal. Since the control method of the mobile module is related to the driving method of the mobile module, when it is necessary to drive the mobile module to move by changing the magnetic field in the linear drive track, the linear drive track and the power-on current of each mobile module can be controlled according to the instructions of the first movement information, so that the mobile module can move according to the movement state quantity corresponding to the transmission state signal. When moving by controlling the change of the magnetic field of the mobile module itself, the power-on and power-off timing of the mobile module and the power-on current of the mobile module can be controlled according to the instructions of the first movement information, so that the mobile module can move according to the movement state quantity corresponding to the transmission state signal.

[0115] In this embodiment, the above-mentioned response to the transmission state signal to determine the first movement information corresponding to the transmission state signal includes:

[0116] A first movement control parameter corresponding to the transmission state signal is obtained, wherein the first movement control parameter includes first movement information; and the first movement control parameter is configured based on a transmission state quantity of the first transportation device corresponding to the transmission state signal.

[0117] In this embodiment, the first movement control parameter is used to indicate the parameters required for controlling the movement of the mobile module based on the transmission state signal, and the first movement control parameter may specifically include the first movement information. It is understandable that the first movement control parameter may also include other information for controlling the movement of the mobile module based on the transmission state signal, such as timing information for controlling power on and off and power-on current information for controlling the magnitude of the magnetic field, etc. The embodiment of the present application does not limit the specific content of the first movement control parameter.

[0118] Therefore, after acquiring the transmission state signal, according to the correspondence between the transmission state signal and the first movement control parameter, the first movement control parameter can be used to make the movement of the mobile module adapted to the movement state of the transmission transport device, thereby achieving a rapid response to the transmission state signal.

[0119] In actual application, the first mobile control parameter can be configured by calculating the transmission state quantity of the transmission transport device corresponding to the transmission state signal before the mobile module is started, but is not limited to, or the first mobile control parameter can be configured by performing signal analysis on the transmission state signal to determine the transmission state quantity of the transmission transport device after the mobile module is started. The configuration of the first mobile control parameter before the mobile module is started can further improve the response speed to the transmission state signal, and the configuration based on the signal analysis result of the transmission state signal after the mobile module is started can dynamically configure the first mobile control parameter through the signal analysis result of the transmission state signal, thereby improving the motion control flexibility of the mobile module.

[0120] In this embodiment, the transmission state quantity is a linear motion state quantity or a rotational motion state quantity.

[0121] In this embodiment, since there are linear motion components (such as belt-type structural components, further such as conveyor belts) and rotational motion components (such as rotary actuators, further such as rotary motors) in the transmission and transportation device, the transmission state quantity can be a linear motion state quantity or a rotational motion state quantity according to the acquisition source of the transmission state signal in the transmission and transportation device. The linear motion state quantity corresponds to the belt-type structural components included in the transmission and transportation device; the rotational motion state quantity corresponds to the rotary actuator included in the transmission and transportation device.

[0122] According to the type of the transmission state quantity and the motion trajectory of the mobile module, the transmission state quantity and the first movement information are of the same type or have a conversion correspondence relationship. For example, if the transmission state quantity is a linear motion state quantity and the mobile module performs linear motion, the transmission state quantity may be equal to the first movement information. For another example, if the transmission state quantity is a rotational motion state quantity and the mobile module performs linear motion, the rotational motion state quantity may have a conversion correspondence relationship with the first movement information, such as a conversion correspondence relationship between linear motion and rotational motion.

[0123] In a specific implementation, the transmission state quantity may include: at least one of a transmission distance increment and a transmission speed related quantity. According to the acquisition source of the transmission state signal in the transmission transport device, the transmission distance increment may be a linear distance increment or a rotational distance increment, and the transmission speed related quantity may be a linear speed related quantity or a rotational speed related quantity. Among them, the transmission speed related quantity may further include a transmission speed quantity, a transmission acceleration quantity, etc.; the linear speed related quantity may further include a linear speed quantity, a linear acceleration quantity, etc., and the rotational speed related quantity may further include a rotational speed quantity, a rotational acceleration quantity.

[0124] It should be noted that, for the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application. In practical applications, the optional embodiments can be combined and cross-referenced with each other without conflict, thereby extending a variety of possible embodiments, and these extended embodiments can all be considered as embodiments disclosed and disclosed in the specification of this application.

[0125] According to another aspect of the embodiment of the present application, an article transport control device for implementing the above-mentioned article transport control method is also provided. The article transport control device is used to control the movement of the mobile module along the linear drive track to adapt to the movement state of the transmission transport device. The following is a detailed description through specific embodiments with reference to the accompanying drawings.

[0126] In an optional embodiment, if Figure 6 As shown, the article transmission control device 602 is applied to a linear magnetic drive device, the linear magnetic drive device includes a linear drive track and a moving module, the linear drive track is provided with a plurality of article handover areas, each article handover area corresponds to a transmission transport device, and the moving module is used to move along the linear drive track to pass through each article handover area; including:

[0127] An acquisition unit 604 is used to acquire at least one transmission state signal, each transmission state signal is used to indicate the motion state of a first transport device, and the first transport device is a transmission transport device used to acquire the transmission state signal among the multiple transmission transport devices;

[0128] The control unit 606 is used to control the mobile module in the corresponding first handover area to move in accordance with the motion state of the first transport device based on each transmission state signal to perform an item handover operation. The first handover area is an item handover area corresponding to the first transport device among multiple item handover areas.

[0129] As an optional solution, the linear drive track is further provided with at least one mobile buffer area, and the mobile buffer area does not correspond to the transmission transport device. The device may further include:

[0130] The determination module is used to determine, among the multiple article delivery areas, a second delivery area corresponding to the mobile module in the mobile buffer area, and control the mobile module in the mobile buffer area to move toward the second delivery area.

[0131] As an optional solution, the determination module may include:

[0132] The determination submodule is used to determine the second handover area corresponding to the mobile module in the mobile buffer area from the plurality of article handover areas according to the position information of the mobile module in the mobile buffer area.

[0133] As an optional solution, determining the submodule may include:

[0134] The first determination subunit is used to determine the order in which the mobile modules in the mobile buffer area enter the respective item handover areas according to the position information of the mobile modules when they are stationary and the distribution of the plurality of item handover areas when the mobile modules in the mobile buffer area are stationary, and determine the second handover area according to the entry order of the mobile modules in the mobile buffer area;

[0135] The second determination subunit is used to determine the second handover area according to the position information, moving direction and distribution of multiple object handover areas of the mobile module in the mobile buffer area when the mobile module in the mobile buffer area is in a moving state.

[0136] As an optional solution, the device may further include:

[0137] A matching module is used to adjust the first speed information of the mobile module in the mobile buffer area to match the second speed information corresponding to the second handover area after determining the second handover area corresponding to the mobile module in the mobile buffer area, wherein the second speed information is pre-set based on the transmission speed of the transmission transportation device corresponding to the second handover area, or the second speed information is determined based on the transmission status signal corresponding to the second handover area.

[0138] As an optional solution, the device may further include:

[0139] A module is established, which is used to control the transmission transport device corresponding to the first handover area to establish a binding relationship with the detected mobile module before controlling the mobile module in the corresponding first handover area to perform a movement adapted to the movement state of the first transport device, upon detecting that there is a mobile module reaching the starting position of the first handover area.

[0140] As an optional solution, the device may further include:

[0141] A release module is used to release the binding relationship between the transmission transport device corresponding to the first handover area and the detected mobile module after controlling the mobile module in the corresponding first handover area to perform a movement adapted to the movement state of the first transport device and detecting that there is a mobile module that has reached the end position of the first handover area.

[0142] As an optional solution, at least two article handover areas are arranged adjacent to each other, and the transmission transport devices corresponding to the adjacent article handover areas have the same transmission speed.

[0143] As an optional solution, the plurality of transmission transport devices may include at least one of a rotating transport device and a belt transport device.

[0144] According to another aspect of the embodiment of the present application, an article transport system is further provided, characterized in that the system comprises a linear magnetic drive device and a plurality of transmission transport devices; the linear magnetic drive device comprises a transmission control module, a linear drive track and a moving module,

[0145] The linear drive track is provided with a plurality of article transfer areas, each of which corresponds to a transmission transport device;

[0146] The moving module is used to move along the linear drive track to pass through each item handover area; the transmission control module is used to obtain at least one transmission status signal indicating the movement status of the first transport device, and based on each transmission status signal, control the moving module in the corresponding first handover area to perform a movement adapted to the movement status of the first transport device to perform an item handover operation, the first handover area is an item handover area corresponding to the first transport device among multiple item handover areas, wherein each transmission status signal is used to indicate the movement status of the first transport device, the first transport device is a transmission transport device among multiple transmission transport devices for obtaining the transmission status signal, and the first handover area is an item handover area corresponding to the first transport device among multiple item handover areas.

[0147] In this embodiment, the transmission control module included in the system obtains a transmission status signal indicating the motion state of the first transport device, and based on the correspondence between the transmission status signal and the first transport device, determines the first handover area corresponding to the transmission status signal from multiple item handover areas, and then controls the mobile module in the first handover area to perform movement on the linear drive track that is compatible with the motion state of the first transport device to perform an item handover operation, wherein the first transport device is one of multiple transmission transport devices.

[0148] In this embodiment, the embodiment of the system here can refer to the above method embodiment, which will not be repeated here.

[0149] According to another aspect of the embodiment of the present application, an electronic device for implementing the above-mentioned article transmission control method is further provided, Figure 7 As shown, the electronic device includes a memory 702 and a processor 704. The memory 702 stores a computer program, and the processor 704 is configured to execute the steps in any of the above method embodiments through the computer program.

[0150] A computer program may include any suitable type of code, e.g., source code, compiled code, interpreted code, executable code, static code, dynamic code, encrypted code, etc., implemented using any suitable high-level, low-level, object-oriented, visual, compiled and / or interpreted programming language.

[0151] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0152] Acquire at least one transmission state signal, each transmission state signal is used to indicate the motion state of a first transport device, and the first transport device is a transmission transport device used to acquire the transmission state signal among a plurality of transmission transport devices;

[0153] Based on each transmission state signal, the mobile module in the corresponding first handover area is controlled to move in accordance with the motion state of the first transport device to perform an item handover operation. The first handover area is an item handover area corresponding to the first transport device among multiple item handover areas.

[0154] Alternatively, a person skilled in the art may understand that: Figure 7 The structure shown is for illustration only. Figure 7 The structure of the electronic device is not limited. Figure 7 More or fewer components (such as network interfaces, etc.) as shown in, or with Figure 7 Different configurations are shown.

[0155] Among them, the memory 702 can be used to store software programs and modules, such as the program instructions / modules corresponding to the article transfer control method and device in the embodiment of the present application. The processor 704 executes various functional applications and data processing by running the software programs and modules stored in the memory 702, that is, realizing the above-mentioned article transfer control method. The memory 702 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 702 may further include a memory remotely located relative to the processor 704, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Among them, the memory 702 may specifically be used, but is not limited to, to store at least one transmission status signal and other information. As an example, such as Figure 7 As shown, the memory 702 may include, but is not limited to, the acquisition unit 604, the determination unit 606, and the control unit 608 in the article transport control device 602. In addition, it may also include, but is not limited to, other module units in the article transport control device, which will not be described in detail in this example.

[0156] Optionally, the communication device 706 is used to receive or send data via a network. In addition, the electronic device further comprises: a display 708 for displaying at least one transmission status signal; and a connection bus 710 for connecting various module components in the electronic device.

[0157] According to one aspect of the present application, a computer program product is provided, the computer program product comprising a computer program and / or instructions, the computer program and / or instructions comprising a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit, various functions provided by the embodiments of the present application are executed.

[0158] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0159] It should be noted that the computer system of the electronic device is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0160] The computer system includes a central processing unit (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) or the program loaded from the storage part to the random access memory (RAM). In the random access memory, various programs and data required for system operation are also stored. The central processing unit, the read-only memory and the random access memory are connected to each other through a bus. The input / output interface (I / O interface) is also connected to the bus.

[0161] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit, various functions defined in the system of the present application are executed.

[0162] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above-mentioned various optional implementations.

[0163] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0164] Acquire at least one transmission state signal, each transmission state signal is used to indicate the motion state of a first transport device, and the first transport device is a transmission transport device used to acquire the transmission state signal among a plurality of transmission transport devices;

[0165] Based on each transmission state signal, the mobile module in the corresponding first handover area is controlled to move in accordance with the motion state of the first transport device to perform an item handover operation. The first handover area is an item handover area corresponding to the first transport device among multiple item handover areas.

[0166] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the electronic device through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0167] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0168] If the units, modules, etc. in the above embodiments 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. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable the control end to execute all or part of the steps of the methods of each embodiment of the present application.

[0169] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0170] In the several embodiments provided in this application, it should be understood that the described embodiments are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0171] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0172] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each functional unit may exist physically separately, or two or more functional units may be integrated into one processing unit. Each functional unit may be implemented in the form of hardware (such as circuits, processors, modules, etc.) or in the form of software functional units.

[0173] The above are only optional implementation modes of the present application. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling the transport of articles, characterized in that: Applied to a linear magnetic drive device, the linear magnetic drive device comprises a linear drive track and a moving module, the linear drive track is provided with a plurality of article handover areas, each of the article handover areas corresponds to a transmission transport device, the linear drive track is further provided with at least one moving buffer area, the moving buffer area does not correspond to the transmission transport device, the moving module is used to move along the linear drive track to pass through each of the article handover areas; the method comprises: Acquire at least one transmission state signal, each of the transmission state signals being used to indicate a motion state of a first transport device, the first transport device being a transmission transport device among the plurality of transmission transport devices used to acquire the transmission state signal; Based on each of the transmission state signals, controlling a mobile module in a corresponding first handover area to move in accordance with the motion state of the first transport device to perform an article handover operation, wherein the first handover area is an article handover area corresponding to the first transport device among the plurality of article handover areas; Determine a second handover area corresponding to the mobile module in the mobile buffer area among the plurality of article handover areas, and control the mobile module in the mobile buffer area to move toward the second handover area; Adjust the first speed information of the mobile module in the mobile buffer area to match the second speed information corresponding to the second handover area, wherein the second speed information is pre-set based on the transmission speed of the transmission transportation device corresponding to the second handover area, or the second speed information is determined based on the transmission status signal corresponding to the second handover area.

2. The method according to claim 1, characterized in that The step of determining, among the plurality of article handover areas, a second handover area corresponding to the mobile module in the mobile buffer area comprises: According to the position information of the mobile module in the mobile buffer area, a second handover area corresponding to the mobile module in the mobile buffer area is determined from the plurality of article handover areas.

3. The method according to claim 2, characterized in that The step of determining the second handover area from a plurality of item handover areas according to the position information of the mobile module in the mobile buffer area includes at least one of the following: When the mobile modules in the mobile buffer area are in a stationary state, according to the position information of the mobile modules when they are stationary and the distribution of multiple item handover areas, the order in which the mobile modules in the mobile buffer area enter the item handover areas is determined, and the second handover area is determined according to the entry order of the mobile modules in the mobile buffer area; When the mobile module in the mobile buffer area is in a moving state, the second handover area is determined according to the position information and the moving direction of the mobile module in the mobile buffer area when it moves and the distribution of the plurality of article handover areas.

4. The method according to any one of claims 1 to 3, characterized in that: Before controlling the mobile module in the corresponding first handover area to perform a movement adapted to the movement state of the first transport device, the method further includes: In the case where it is detected that there is a mobile module that has reached the starting position of the first handover area, the transmission and transportation device corresponding to the first handover area is controlled to establish a binding relationship with the detected mobile module.

5. The method according to any one of claims 1 to 3, characterized in that: After the controlling of the mobile module in the corresponding first handover area to perform a movement adapted to the movement state of the first transport device, the method further includes: When it is detected that there is a mobile module that has reached the end position of the first handover area, the binding relationship between the transmission and transportation device corresponding to the first handover area and the detected mobile module is released.

6. The method according to any one of claims 1 to 3, characterized in that: At least two of the article handover areas are adjacently arranged, and the transmission transport devices corresponding to the adjacently arranged article handover areas have the same transmission speed.

7. The method according to any one of claims 1 to 3, characterized in that: The plurality of transmission transport devices include at least one of a rotating transport device and a belt transport device.

8. An article transport control device, characterized in that: The linear magnetic drive device and the transmission and transport device are respectively connected, the linear magnetic drive device includes a linear drive track and a moving module, the linear drive track is provided with a plurality of article handover areas, each of the article handover areas corresponds to a transmission and transport device, the linear drive track is also provided with at least one moving buffer area, the moving buffer area does not correspond to the transmission and transport device, and the moving module is used to move along the linear drive track to pass through each of the article handover areas; the device includes: an acquisition unit, used for acquiring at least one transmission state signal, each of the transmission state signals being used for indicating a motion state of a first transport device, the first transport device being a transmission transport device among the plurality of transmission transport devices used for acquiring the transmission state signal; A control unit, for controlling the mobile module in the corresponding first handover area to perform movement adapted to the movement state of the first transport device based on each of the transmission status signals so as to perform an item handover operation, wherein the first handover area is an item handover area corresponding to the first transport device among the multiple item handover areas; the control unit is also used to determine the second handover area corresponding to the mobile module in the mobile buffer area among the multiple item handover areas, and control the mobile module in the mobile buffer area to move toward the second handover area; adjust the first speed information of the mobile module in the mobile buffer area to match the second speed information corresponding to the second handover area, wherein the second speed information is pre-set based on the transmission speed of the transmission transport device corresponding to the second handover area, or the second speed information is determined based on the transmission status signal corresponding to the second handover area.

9. An article transport system, characterized in that: The system includes a linear magnetic drive device and a plurality of transmission and transport devices; the linear magnetic drive device includes a transmission control module, a linear drive track and a moving module, wherein: The linear drive track is provided with a plurality of article handover areas, each of which corresponds to a transmission and transport device, and the linear drive track is also provided with at least one mobile buffer area, which does not correspond to the transmission and transport device; The moving module is used to move along the linear drive track to pass through each of the article handover areas; The transmission control module is used to obtain at least one transmission state signal indicating the motion state of the first transport device, and based on each of the transmission state signals, control the corresponding mobile module in the first handover area to perform a motion adapted to the motion state of the first transport device to perform an article handover operation, wherein the first handover area is an article handover area corresponding to the first transport device among a plurality of article handover areas, wherein each of the transmission state signals is used to indicate the motion state of the first transport device, the first transport device is a transmission transport device among a plurality of transmission transport devices for obtaining the transmission state signal, and the first handover area is an article handover area corresponding to the first transport device among a plurality of article handover areas; The transmission control module is also used to determine, among the multiple item handover areas, a second handover area corresponding to the mobile module in the mobile buffer area, and control the mobile module in the mobile buffer area to move toward the second handover area; adjust the first speed information of the mobile module in the mobile buffer area to match the second speed information corresponding to the second handover area, wherein the second speed information is pre-set based on the transmission speed of the transmission transportation device corresponding to the second handover area, or the second speed information is determined based on the transmission status signal corresponding to the second handover area.

10. A computer-readable storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, the method described in any one of claims 1 to 7 is implemented.

11. An electronic device, characterized in that: Used for item transport control, the electronic device includes one or more processors and a memory, the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any one of claims 1 to 7.

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