Control method, control device, transportation system and electronic equipment for moving object

Abstract

The present invention provides a control method, a control device, a transportation system and an electronic device for a moving object, the method comprising: obtaining setting information, wherein the setting information is used to indicate the object selection results of selecting a target moving object and an associated moving object from a plurality of transport parts, respectively, and the target moving object and the associated moving object have a binding relationship; based on the setting information, generating a linkage setting instruction, wherein the linkage setting instruction comprises: a first setting instruction, the first setting instruction is used to set the transport part selected as the associated moving object to move according to the movement of the transport part selected as the target moving object; the linkage setting instruction is sent to a lower computer, so that the lower computer controls the movement of a plurality of transport parts according to the linkage setting instruction. Through the scheme of the present invention, it is possible to solve the problem of how to improve the transportation efficiency in the case of transport parts with different driving modes in the transportation system in the related art.

Description

Technical Field

[0001] The present invention relates to the field of automated transportation technology, and in particular to a control method, a control device, a transportation system and electronic equipment for a moving object. Background Art

[0002] In an automated transportation system, transport pieces are used to transport items. With the continuous development of technology, transport pieces with different drive modes can be used for transportation in the transportation system. In the related technology, transport pieces with different drive modes operate independently in various areas of the automated transportation system. However, with the complexity and diversification of transportation scenarios, the above-mentioned operation mode has certain limitations. For example, in the transportation system, the speed of the transport pieces in the upstream area affects the time it takes for the transport pieces in the downstream area to receive the items. For another example, transport pieces with different drive modes need to adjust the control parameters separately and then debug as a whole, and the debugging time is too long. It can be seen that the limitations of the operation mode lead to low transportation efficiency.

[0003] Therefore, when there are transport parts with different driving modes in the transport system, the problem of how to improve the transport efficiency needs to be solved by those skilled in the art. Summary of the invention

[0004] The present invention provides a control method, a control device, a transportation system and an electronic device for a moving object, so as to solve the problem in the related art of how to improve the transportation efficiency when there are transportation parts with different driving modes in the transportation system.

[0005] According to one aspect of the present invention, there is provided a control method for a moving object, which is applied to a host computer, wherein the host computer is connected to a transportation system, wherein the transportation system comprises a lower computer and a plurality of transport parts, wherein a driving mode of some of the transport parts is different from a driving mode of the remaining transport parts, and the method comprises: obtaining setting information, wherein the setting information is used to indicate an object selection result of selecting a target moving object and an associated moving object from the plurality of transport parts, respectively, and a binding relationship exists between the target moving object and the associated moving object; based on the setting information, generating a linkage setting instruction, wherein the linkage setting instruction comprises: a first setting instruction, wherein the first setting instruction is used to set the transport part selected as the associated moving object to move according to the movement condition of the transport part selected as the target moving object; and sending the linkage setting instruction to the lower computer, so that the lower computer controls the motion of the plurality of transport parts according to the linkage setting instruction.

[0006] Further, the multiple transport members include: the multiple transport members include: at least one first transport member and at least one second transport member, the first transport member and the second transport member adopt different driving methods, and the first transport member is configured to pass through the second transport member during movement; the target moving object and the associated moving object are selected from the multiple transport members respectively, including: selecting at least one of the first transport members as the target moving object, or selecting at least one of the first transport members as the associated moving object.

[0007] Furthermore, the number of the first transport members is multiple, and the transport member selected as the associated motion object is set to move according to the motion condition of the transport member selected as the target motion object, including: when the target motion object and the associated motion object are selected from multiple first transport members, the associated motion object is set to move according to the motion state quantity of the target motion object, and the motion state quantity is determined according to the motion control parameters corresponding to the first transport member selected as the target motion object.

[0008] Further, the setting of the associated motion object to move according to the motion state quantity of the target motion object includes at least one of the following: setting the associated motion object to move according to the distance state quantity of the target motion object, the distance state quantity being determined according to the distance parameter in the motion control parameters; setting the associated motion object to move according to the speed state quantity of the target motion object, the speed state quantity being determined according to the speed parameter in the motion control parameters.

[0009] Furthermore, the number of the second transport members is multiple, and the setting of the associated moving object to move according to the movement of the target moving object includes: when the target moving object is selected from the first transport member or the second transport member, and when the associated moving object is selected from the second transport member, setting the associated moving object to move according to the movement status signal of the target moving object.

[0010] Further, the setting of the associated motion object to move according to the motion state signal of the target motion object includes at least one of the following: setting the associated motion object to move according to associated motion incremental information, the associated motion incremental information being determined based on target motion incremental information corresponding to the motion state signal, the driving mode corresponding to the associated motion object, and the driving mode corresponding to the target motion object; setting the associated motion object to move according to associated motion speed information, the associated motion speed information being determined based on target motion speed information corresponding to the motion state signal, the driving mode corresponding to the associated motion object, and the driving mode corresponding to the target motion object.

[0011] Furthermore, the first transport member is driven by magnetic coupling, and the second transport member is driven by mechanical coupling.

[0012] Furthermore, the linkage setting instruction also includes: a second setting instruction, the second setting instruction is used to set a spacing adjustment operation to be performed when the actual spacing between the associated motion object and the target motion object does not meet the spacing condition, the spacing adjustment operation is used to adjust the motion of at least one of the associated motion object and the target motion object until the actual spacing meets the spacing condition, and the spacing condition is set based on the target spacing between the associated motion object and the target motion object.

[0013] Furthermore, the linkage setting instruction also includes: a third setting instruction, the third setting instruction is used to set an object adjustment operation performed according to an associated motion area, the object adjustment operation is used to adjust the target motion object and the associated motion object, and the associated motion area is set based on the motion trajectories of the multiple transport parts.

[0014] Further, the lower computer includes multiple drive control modules, and there is an electrical connection between the multiple drive control modules. Among the multiple drive control modules, at least one drive control module is used to control the first transport member, and at least one drive control module is used to control the second transport member; sending the linkage setting instruction to the lower computer includes: sending the linkage setting instruction to at least one drive control module corresponding to the target motion object and at least one drive control module corresponding to the associated motion object.

[0015] Further, the multiple drive control modules include multiple first drive control modules, the first drive control modules are used to control the first transport member; the multiple first drive control modules are connected in series; the sending of the linkage setting instruction to the lower computer includes: sending the linkage setting instruction to the head first drive control module among the multiple first drive control modules, so that the linkage setting instruction flows according to the connection relationship between the multiple first drive control modules.

[0016] Furthermore, the method also includes: receiving setting feedback information from the lower computer, the setting feedback information including first setting feedback information from the tail first drive control module among the multiple first drive control modules, and the first setting feedback information is used to characterize the results of the settings of each first drive control module based on the linkage setting instruction.

[0017] According to one aspect of the present invention, a control method for a moving object is provided, which is applied to a lower computer, wherein the lower computer is electrically connected to a first transport device and a second transport device, respectively, wherein the first transport device includes a plurality of first transport members, and the second transport device includes at least one second transport member, and the first transport member and the second transport member adopt different driving modes, and the method comprises: receiving a linkage setting instruction of a host computer, wherein the linkage setting instruction is generated based on setting information, and the setting information is used to indicate an object selection result of selecting a target moving object and an associated moving object from the first transport member and the second transport member, and the target moving object has a binding relationship with the associated moving object; and based on the setting performed by the linkage setting instruction, when it is determined that there is a target moving object selected as the associated moving object among the plurality of first transport members. In the case of a first transport member selected as the target motion object, based on the movement status of the first transport member corresponding to the target motion object, the associated motion object in a binding relationship with the target motion object is controlled to move, wherein the associated motion object in a binding relationship includes at least one of the following: a first transport member and a second transport member that are not selected as the target motion object; based on the setting made by the linkage setting instruction, in the case of determining that there is a first transport member selected as the associated motion object among the multiple first transport members, based on the movement status of the target motion object in a binding relationship with the associated motion object, the first transport member corresponding to the associated motion object is controlled to move, wherein the target motion object in a binding relationship includes at least one of the following: a first transport member and a second transport member that are not selected as the associated motion object.

[0018] Further, based on the movement status of the first transport piece corresponding to the target motion object, controlling the associated motion object that is in a binding relationship with the target motion object to move includes: when it is determined that the associated motion object is the first transport piece that has not been selected as the target motion object, based on the motion state quantity of the first transport piece corresponding to the target motion object, controlling the first transport piece corresponding to the associated motion object to move, the motion state quantity being determined according to the motion control parameters adopted by the target motion object.

[0019] Further, the controlling the movement of the first transport member corresponding to the associated moving object based on the motion state quantity of the first transport member corresponding to the target moving object includes at least one of the following: controlling the movement of the first transport member corresponding to the associated moving object based on the distance state quantity of the first transport member corresponding to the target moving object, the distance state quantity being determined according to the distance parameter in the motion control parameters; controlling the movement of the first transport member corresponding to the associated moving object based on the speed state quantity of the first transport member corresponding to the target moving object, the speed state quantity being determined according to the speed parameter in the motion control parameters.

[0020] Furthermore, based on the movement status of the first transport piece corresponding to the target moving object, the associated moving object that is bound to the target moving object is controlled to move, including: when it is determined that the associated moving object is the second transport piece, based on the movement status signal of the first transport piece corresponding to the target moving object, the second transport piece corresponding to the associated moving object is controlled to move.

[0021] Further, the controlling of the second transport member corresponding to the associated motion object to move based on the motion state signal of the first transport member corresponding to the target motion object includes at least one of the following: controlling the second transport member corresponding to the associated motion object to move according to associated motion incremental information, wherein the associated motion incremental information is determined based on the target motion incremental information corresponding to the motion state signal, the driving mode of the second transport member corresponding to the associated motion object, and the driving mode of the first transport member corresponding to the target motion object; controlling the second transport member corresponding to the associated motion object to move according to associated motion speed information, wherein the associated motion speed information is determined based on the target motion speed information corresponding to the motion state signal, the driving mode of the second transport member corresponding to the associated motion object, and the driving mode of the first transport member corresponding to the target motion object.

[0022] Furthermore, the first transport member is driven by magnetic coupling, and the second transport member is driven by mechanical coupling.

[0023] Furthermore, the method also includes: based on the setting of the linkage setting instruction, when the actual distance between the associated moving object and the target moving object does not meet the distance condition, performing a distance adjustment operation, wherein the distance adjustment operation is used to adjust the movement of the first transport member selected as the target moving object or the associated moving object until the actual distance meets the distance condition, and the distance condition is set based on the target distance between the associated moving object and the target moving object.

[0024] Furthermore, the method also includes: based on the setting of the linkage setting instruction, performing an object adjustment operation according to the associated motion area, the object adjustment operation is used to adjust the target motion object and the associated motion object, and the associated motion area is set based on the motion trajectory of the first transport member and the motion trajectory of the second transport member.

[0025] Furthermore, the lower computer includes multiple first drive control modules, and the first drive control modules are used to control the first transport member; the multiple first drive control modules are connected in series; and the receiving of the linkage setting instructions sent by the upper computer includes: receiving the linkage setting instructions through the head first drive control module among the multiple first drive control modules, and circulating the linkage setting instructions among the multiple first drive control modules according to the connection relationship between the multiple first drive control modules.

[0026] Furthermore, the method further includes: sending first setting feedback information to the host computer, wherein the first setting feedback information is used to represent the result of setting performed by each first drive control module based on the linkage setting instruction.

[0027] According to another aspect of the present invention, there is provided a control device for a moving object, which serves as a host computer and is connected to a transportation system, wherein the transportation system comprises a lower computer and a plurality of transport parts, wherein a driving mode of some transport parts is different from a driving mode of the remaining transport parts; the control device for the moving object comprises: an acquisition module, for acquiring setting information, wherein the setting information is used to indicate an object selection result of selecting a target moving object and an associated moving object from a plurality of transport parts, respectively, and a binding relationship exists between the target moving object and the associated moving object; an instruction generation module, for generating a linkage setting instruction based on the setting information, wherein the linkage setting instruction comprises: a first setting instruction, wherein the first setting instruction is used to set the transport part selected as the associated moving object to move according to the movement condition of the transport part selected as the target moving object; and a first communication module, for sending the linkage setting instruction to the lower computer, so that the lower computer controls the motion of the plurality of transport parts according to the linkage setting instruction.

[0028] According to another aspect of the present invention, another control device for a moving object is provided, which serves as a lower computer and is electrically connected to a first transport device and a second transport device, respectively. The first transport device includes a plurality of first transport members, and the second transport device includes at least one second transport member, and the first transport member and the second transport member adopt different driving methods; the control device for the moving object includes: a second communication module, which is used to receive a linkage setting instruction from a host computer, wherein the linkage setting instruction is generated based on setting information, and the setting information is used to indicate an object selection result of a target moving object and an associated moving object, and a binding relationship exists between the target moving object and the associated moving object; a first control module, which is used to determine, based on the setting made by the linkage setting instruction, whether there is an object selected as a target moving object among the plurality of the first transport members. In the case of a first transport piece of an object, based on the movement status of the first transport piece corresponding to the target motion object, the associated motion object in a binding relationship with the target motion object is controlled to move, wherein the associated motion object in a binding relationship includes at least one of the following: a first transport piece that is not selected as the target motion object, and a second transport piece; a second control module is used for setting based on the linkage setting instruction, and in the case of determining that there is a first transport piece selected as the associated motion object among the multiple first transport pieces, based on the movement status of the target motion object in a binding relationship with the associated motion object, controlling the first transport piece corresponding to the associated motion object to move, wherein the target motion object in a binding relationship includes at least one of the following: a first transport piece that is not selected as the associated motion object, and a second transport piece.

[0029] According to another aspect of the present invention, there is provided a transport system, comprising: an upper computer, a lower computer and a plurality of transport members; the upper computer is used to obtain setting information, and generate a linkage setting instruction based on the setting information, wherein the setting information is used to indicate an object selection result of selecting a target motion object and an associated motion object from a plurality of transport members, and a binding relationship exists between the target motion object and the associated motion object; the lower computer is used to receive the linkage setting instruction, and perform settings according to the linkage setting instruction, so as to control the transport member selected as the associated motion object to move according to the motion condition of the transport member selected as the target motion object; among the plurality of transport members, the driving mode of some transport members is different from the driving mode of the remaining transport members, and each of the transport members is used to transport items.

[0030] According to yet another aspect of the present invention, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the steps of any one of the above method embodiments when executed.

[0031] According to another aspect of the present invention, there is provided an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0032] According to yet another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.

[0033] By applying the technical solution of the present invention, by acquiring setting information, firstly determining the object selection results of selecting target motion objects and associated motion objects having a binding relationship from multiple transport parts, and then generating a linkage setting instruction based on the setting information, wherein the linkage setting instruction includes a first setting instruction for setting the transport part selected as the associated motion object to move according to the motion condition of the transport part selected as the target motion object, and then sending the linkage setting instruction to the lower computer, so that the lower computer controls the motion of the multiple transport parts according to the linkage setting instruction. Therefore, by utilizing the setting information, it is possible to determine the transport parts selected as the target motion object and the transport parts selected as the associated motion object, and then establish an association between the transport parts selected as the target motion object and the transport parts selected as the associated motion object through the binding relationship between the target motion object and the associated motion object. In this way, after sending the linkage setting instruction to the lower computer, the movement mode between the transport parts selected as the target motion object and the transport parts selected as the associated motion object can be set, so that the transport parts selected as the associated motion object can move according to the movement conditions of the transport parts selected as the target motion object, which not only realizes the coordinated operation between multiple transport parts, but also increases the control diversity of the transport parts, thereby solving the problem of how to improve the transportation efficiency when there are transport parts with different driving modes in the transportation system in the related technology, thereby achieving the effect of improving the transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0035] Figure 1 A flow chart of a method for controlling a moving object according to an embodiment of the present invention is shown;

[0036] Figure 2 A schematic diagram (I) showing a method for controlling a moving object according to an embodiment of the present invention;

[0037] Figure 3A schematic diagram (II) showing a method for controlling a moving object according to an embodiment of the present invention;

[0038] Figure 4 A schematic diagram (III) showing a method for controlling a moving object according to an embodiment of the present invention;

[0039] Figure 5 A schematic diagram showing a process of associated movement between transport members with the same driving mode according to an embodiment of the present invention;

[0040] Figure 6 A schematic diagram (I) showing the associated motion process between transport members in different driving modes according to an embodiment of the present invention;

[0041] Figure 7 A schematic diagram (II) showing the associated motion process between transport members in different driving modes according to an embodiment of the present invention;

[0042] Figure 8 A schematic diagram showing a process of establishing a motion binding relationship between transported items according to an embodiment of the present invention;

[0043] Fig. 9 A schematic diagram showing a process of releasing a motion binding relationship between transported items according to an embodiment of the present invention;

[0044] Fig.10 A schematic diagram showing an instruction distribution process according to an embodiment of the present invention is shown;

[0045] Fig.11 A flowchart showing another method for controlling a moving object according to an embodiment of the present invention is shown;

[0046] Fig.12 A structural block diagram of a control device for a moving object according to an embodiment of the present invention is shown;

[0047] Fig.13 A structural block diagram of another device for controlling a moving object according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0050] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0051] In an embodiment of the present invention, a control method for a moving object is provided. The method can be applied to a host computer, which is connected to a transportation system, wherein the transportation system includes a lower computer and a plurality of transportation members. Among the plurality of transportation members, the driving mode of some transportation members is different from the driving mode of the remaining transportation members. That is, different transportation members support different driving modes.

[0052] It can be understood that the upper computer itself can provide the user with a visual interface and a control interface so that the user can operate the upper computer. There is a communication connection between the upper computer and the lower computer. The upper computer can generate corresponding instructions according to the user's operations or settings, and send the instructions to the lower computer so that the lower computer can control the motion of the transport parts based on the instructions.

[0053] The transport member is a structural member used to transport items in a transport device. Specifically, the transport member can be an active structural member, which can be driven by one or more combinations of electricity, force, etc., or a passive structural member, which is driven by other structural members (such as a driving member) by one or more combinations of electricity, force, etc.

[0054] like Figure 1 FIG. 1 is a flowchart of a method for controlling a moving object according to an embodiment of the present invention. The method may include the following steps:

[0055] Step S102: Acquire setting information, wherein the setting information is used to indicate object selection results of selecting a target moving object and an associated moving object from a plurality of transport objects, respectively, and the target moving object and the associated moving object have a binding relationship.

[0056] Specifically, the object selection result is used to characterize the transported parts selected as associated moving objects and the transported parts selected as target moving objects among the multiple transported parts. According to actual conditions, a transported part may be selected as a target moving object in some time periods and as an associated moving object in other time periods.

[0057] It can be understood that the target motion object and the associated motion object are different types of objects. The target motion object can be understood as an object whose own motion is referenced, and the associated motion object can be understood as an object that needs to refer to other objects for motion. By binding the target motion object and the associated motion object, the target motion object and the associated motion object can be made to correspond to each other, and the target motion object can be represented as an object referenced by the associated motion object. Among them, the target motion object can be bound to one or more associated motion objects, that is, the target motion object and the associated motion object can correspond one to one or one to many.

[0058] Step S104: Generate linkage setting instructions based on the setting information, wherein the linkage setting instructions include: a first setting instruction, the first setting instruction is used to set the transport part selected as the associated moving object to move according to the movement of the transport part selected as the target moving object.

[0059] Step S106: sending the linkage setting instruction to the lower computer, so that the lower computer controls the motion of the multiple transport members according to the linkage setting instruction.

[0060] Specifically, according to the transport parts selected as associated moving objects and the transport parts selected as target moving objects among the multiple transport parts indicated by the setting information, a linkage setting instruction is generated. The linkage setting instruction can be recognized by the lower computer and can instruct the lower computer to perform related setting operations.

[0061] Since the first setting instruction included in the linkage setting instruction is used to set the transport part selected as the associated motion object to move according to the motion conditions of the transport part selected as the target motion object, after the lower computer executes the setting operation related to the first setting instruction, the lower computer can determine the transport part selected as the associated motion object and the transport part selected as the target motion object, and can control the transport part selected as the associated motion object to move according to the motion conditions of the transport part selected as the target motion object.

[0062] According to the actual situation, when the same transport part is selected as the target moving object in certain time periods, the transport part can be regarded as the reference object for the movement of other transport parts corresponding to the associated moving object, and when the transport part is selected as the associated moving object in other time periods, it can move with reference to other transport parts corresponding to the target moving object. For example, for transport parts A and B, when transport part A is selected as the target moving object and transport part B is selected as the associated moving object in certain time periods, transport part B moves according to the movement of transport part A, and transport part A is the reference object for the movement of transport part B, and when transport part B is selected as the target moving object and transport part A is selected as the associated moving object in other time periods, transport part A moves according to the movement of transport part B, and transport part B is the reference object for the movement of transport part A.

[0063] Through the above steps, the object selection results of selecting target motion objects and associated motion objects that have a binding relationship from multiple transport parts can be first determined based on the acquired setting information, and then a linkage setting instruction can be generated based on the setting information, wherein the linkage setting instruction includes a first setting instruction for setting the transport part selected as the associated motion object to move according to the movement of the transport part selected as the target motion object, and then the linkage setting instruction is sent to the lower computer, so that the lower computer controls the motion of the multiple transport parts according to the linkage setting instruction. Therefore, by utilizing the setting information, it is possible to determine the transport parts selected as the target motion object and the transport parts selected as the associated motion object, and then establish an association between the transport parts selected as the target motion object and the transport parts selected as the associated motion object through the binding relationship between the target motion object and the associated motion object. In this way, after sending the linkage setting instruction to the lower computer, the movement mode between the transport parts selected as the target motion object and the transport parts selected as the associated motion object can be set, so that the transport parts selected as the associated motion object can move according to the movement conditions of the transport parts selected as the target motion object, which not only realizes the coordinated operation between multiple transport parts, but also increases the control diversity of the transport parts, thereby solving the problem of how to improve the transportation efficiency when there are transport parts with different driving modes in the transportation system in the related technology, thereby achieving the effect of improving the transportation efficiency.

[0064] In addition, since the object selection result is determined based on the setting information, if the object selection result indicated by the acquired setting information changes, at least one of the transport parts selected as the target moving object and the transport parts selected as the associated moving object will change. Therefore, it is possible to flexibly adjust the object selection result based on the setting information, thereby improving the flexibility of motion control of multiple transport parts.

[0065] It is understandable that, in the process of the transport member selected as the associated moving object moving according to the moving condition of the transport member selected as the target moving object, the multiple transport members can exchange items, thereby changing the transport path of the items, or the items of one of the transport members can be stabilized, thereby improving the stability of the items during transportation. In a specific implementation, the multiple transport members may include: at least one first transport member and at least one second transport member, the first transport member and the second transport member adopt different driving modes, that is, the first transport member adopts one driving mode, and the second transport member adopts another driving mode, and the first transport member is configured to pass through the second transport member during movement. Since the first transport member can pass through the second transport member, the movement range of the first transport member is wider. By selecting the first transport member as the target moving object or the associated moving object, it is more conducive to the coordinated operation between the transport members (specifically, between the first transport member and the second transport member, and between multiple first transport members).

[0066] Based on this, in the process of selecting the target moving object and the associated moving object respectively from the plurality of transport members, it may specifically include: selecting at least one of the first transport members as the target moving object, or selecting at least one of the first transport members as the associated moving object.

[0067] Therefore, by using the first transport component with a wider range of motion, the coordinated operation between the transport components can be increased, further improving the transport efficiency.

[0068] It is understandable that the control method of the moving object provided by the embodiment of the present invention can be specifically applied to transportation scenarios in different industries.

[0069] For example, the control method of the moving object provided by the embodiment of the present invention can be applied to logistics transportation scenarios. Specifically, it can be applied to automatic cargo sorting scenarios, where cargo can be quickly sorted and transported to different storage areas or loading areas through transport pieces with different driving modes.

[0070] Take the transport parts with two driving modes as an example, which can be specifically the first transport parts and the second transport parts with different driving modes. In the process of controlling the first transport parts and the second transport parts to cooperate in transporting goods, the second transport parts can be arranged in different storage areas in advance, and the movement of goods can be controlled by multiple first transport parts in linkage until the logistics transport parts reach the area where the second transport parts are located. During the specific movement, one of the first transport parts can be selected from multiple first transport parts as the target movement object, and another first transport part can be selected from multiple first transport parts as the associated movement object, and the first transport part corresponding to the associated movement object can be controlled to move according to the first transport part corresponding to the target movement object, and then the two first transport parts can be controlled to cooperate with each other to transport the goods. Alternatively, the second transport part can be selected as the target movement object, and one of the first transport parts can be selected from multiple first transport parts as the associated movement object, and the first transport part corresponding to the associated movement object can be controlled to move according to the movement of the second transport part, so that the first transport part corresponding to the associated movement object transfers the goods carried to the second transport part corresponding to the target movement object, thereby achieving the purpose of transporting the goods to different storage areas or loading areas through the second transport part.

[0071] For another example, the control method of the moving object provided by the embodiment of the present invention can be applied to the scene of object detection. Specifically, it can be applied to the scene of sample detection, for example, by transporting containers storing samples through transport parts with different driving modes, and then allocating and managing different containers, and then transporting different containers to designated detection and processing equipment, and the detection and processing equipment detects the contents of the containers.

[0072] In a transport system for transporting biological sample containers, multiple biological sample containers can be transported at the same time. For example, a transport member using two driving modes can be used, specifically, a first transport member and a second transport member using different driving modes. In the above-mentioned transport system, multiple first transport members can be used to carry sample containers, and the first transport members can be fixed to the sample containers. When the contents of the biological sample containers need to be detected or processed by a detection and processing device, one of the multiple first transport members can be selected as an associated motion object, and the detection and processing device (equivalent to the second transport member) can be selected as a target motion object. The first transport member corresponding to the associated motion object is controlled to move according to the detection and processing device, so that the biological sample container to be detected moves to the detection and processing device, so that the detection and processing device detects the contents of the biological sample container to be detected.

[0073] For example, the control method of the moving object provided by the embodiment of the present invention can be applied to a processing scenario. For example, a material processing scenario can be used to transport the material to a designated processing area for processing by a transport unit, and the designated processing area is, for example, an area where the material is sprayed. After the material is sprayed, the transport unit transports the material to the next processing area.

[0074] In a transport system for transporting materials, a transport member using two driving modes is taken as an example, specifically, a first transport member and a second transport member using different driving modes, wherein the first transport member is used to transport materials, and the second transport member is a processing device, which are arranged in different processing areas respectively. After determining the processing flow of the material, one of the processing devices (equivalent to the second transport member) is selected as the target moving object from a plurality of processing devices (equivalent to the second transport member), and the first transport member for transporting the material is selected as the associated moving object, and the first transport member corresponding to the associated moving object is controlled to move according to the movement of the processing device corresponding to the target moving object, so as to realize accurate transportation of the material to the designated processing area. After the processing equipment completes the processing of the material, the first transport member can move the processed food to another processing equipment for the next step of the processing procedure. It can be understood that after reaching the preset processing position, according to the actual situation, at least one of the target moving object and the associated moving object can be re-selected from a plurality of transport members to generate new setting information, or it can not be re-selected, as long as the accurate processing of the material can be ensured.

[0075] In summary, the control method of the moving object provided by the embodiment of the present invention can be specifically applied to transportation scenarios in different industries to improve transportation efficiency and accuracy. It should be noted that the above usage scenarios are only examples, and any scenario related to the object transportation process can utilize the solution of the present invention. This embodiment does not make any limitation to this.

[0076] In a specific implementation, the number of the first transport members may be one or more. When the number of the first transport members is multiple, there may be a situation where the target moving object and the associated moving object correspond to different first transport members respectively. At this time, in the process of setting the transport member selected as the associated moving object to move according to the movement of the transport member selected as the target moving object, it may include: in the case where the target moving object and the associated moving object are selected from the multiple first transport members, setting the associated moving object to move according to the movement state quantity of the target moving object, and the movement state quantity is determined according to the movement control parameter of the target moving object.

[0077] Specifically, the first transport member is configured with motion control parameters, and the motion control parameters are used to control the motion state quantity of the first transport member. When the first transport member is used as a target moving object, since the first transport member selected as the target moving object can move using the configured motion control parameters, the motion state quantity of the first transport member corresponding to the target moving object is determined by the motion control parameters.

[0078] Therefore, the cooperative movement among the plurality of first transport members can be ensured through the movement state quantity of the first transport member corresponding to the target moving object, thereby improving the controllability of the plurality of first transport members.

[0079] It can be understood that since the driving methods of multiple first transport members are the same, when the target moving object corresponds to the first transport member, the first transport member selected as the associated moving object can adopt the motion control parameters configured for the first transport member corresponding to the target moving object, thereby achieving the effect of moving according to the motion conditions of the first transport member corresponding to the target moving object. Therefore, by sharing the motion control parameters, the response speed of the first transport member selected as the associated moving object can be improved, the control difficulty and complexity can be reduced, and the precise matching of the motions between multiple first transport members can be ensured.

[0080] In a specific implementation, the motion control parameter can be used to control the speed state quantity of the first transport member, and can also be used to control the distance state quantity of the first transport member, wherein the speed state quantity corresponds to the speed of the first transport member, and the distance state quantity corresponds to the distance of the first transport member. The speed can be a linear speed or an angular speed, and the distance can be a straight-line distance or a curved distance.

[0081] In an optional embodiment, the process of setting the associated motion object to move according to the motion state quantity of the target motion object may include at least one of the following: setting the associated motion object to move according to the distance state quantity of the target motion object, the distance state quantity being determined according to the distance parameter in the motion control parameters; setting the associated motion object to move according to the speed state quantity of the target motion object, the speed state quantity being determined according to the speed parameter in the motion control parameters.

[0082] In a specific implementation, the number of the second transport members may be multiple, and in the process of setting the associated moving object to move according to the movement of the target moving object, it may include: when the target moving object is selected from the first transport member or the second transport member, and when the associated moving object is selected from the second transport member, setting the associated moving object to move according to the movement status signal of the target moving object.

[0083] Specifically, the second transport member may have two motion states, namely, a stationary state and a transport state. The motion state signal of the second transport member is generated based on the motion state of the second transport member, and can be used to indicate the motion state of the second transport member, that is, can be used to indicate whether the second transport member is in a stationary state or a transport state. It is understandable that the motion state signal of the second transport member can be specifically generated based on the current motion state of the second transport member, or the motion state signal can be generated based on the upcoming motion state of the second transport member.

[0084] In practical applications, the motion state signal can also be generated based on the internal signal of the second transport member, or by detecting the structural members in the second transport member. When the motion state of the second transport member is the transport state, the motion state indicated by the motion state signal can be a rotational state or a linear motion state according to the specific generation method of the motion state signal.

[0085] In a specific implementation, the process of setting the associated motion object to move according to the motion state signal of the target motion object includes at least one of the following: setting the associated motion object to move according to associated motion incremental information, wherein the associated motion incremental information is determined based on the target motion incremental information corresponding to the motion state signal, the driving mode corresponding to the associated motion object, and the driving mode corresponding to the target motion object; setting the associated motion object to move according to associated motion speed information, wherein the associated motion speed information is determined based on the target motion speed information corresponding to the motion state signal, the driving mode corresponding to the associated motion object, and the driving mode corresponding to the target motion object.

[0086] In a specific implementation, according to a specific driving mode, the transport member can perform linear motion or rotational motion, and the linear motion can be a straight line motion or a curved line motion, for example, the first transport member performs linear motion, and the second transport member performs rotational motion. For another example, both the first transport member and the second transport member perform linear motion.

[0087] When the transport member corresponding to the target moving object performs linear motion, the target motion increment information may be linear distance increment information, and the target motion speed information may be linear speed information. When the transport member corresponding to the target moving object performs rotational motion, the target motion increment information may be rotational distance increment information, and the target motion speed information may be rotational speed information. The rotational speed information may further include rotational speed quantity, rotational acceleration quantity, etc.

[0088] When the transport part corresponding to the associated motion object performs linear motion, the associated motion increment information may be linear distance increment information, and the associated motion speed information may be linear speed information. When the transport part corresponding to the associated motion object performs rotational motion, the associated motion increment information may be rotational distance increment information, and the associated motion speed information may be rotational speed information.

[0089] It can be understood that the linear distance increment information includes but is not limited to the straight-line distance between the starting point and the end point of the transported item during the movement, and the path length between the starting point and the end point of the transported item during the movement.

[0090] In specific implementation, the specific source of the motion state signal can be determined based on the internal structure of the transport device where the transported object is located. For example, the motion state signal can be generated based on a control signal that can drive the transported object to move. For another example, the motion state signal can be generated based on detecting the motion state of the transported object. According to the specific acquisition source of the motion state signal, the target motion state quantity information corresponding to the motion state signal can be determined by calculation or signal analysis, that is, at least one of the target motion increment information and the target motion speed information can be determined by calculation or signal analysis.

[0091] In some embodiments, it is possible but not limited to determine the target motion increment information corresponding to the motion state signal by calculation before the transportation system is started, so that when setting the associated motion object to move according to the associated motion increment information, the target motion increment information can be directly retrieved, or, after the transportation system is started, the target motion increment information is determined by performing signal analysis on the motion state signal, so as to be used when setting the associated motion object to move according to the associated motion increment information. Determining the target motion increment information before the transportation system is started can further improve the response speed to the motion state signal, and dynamically determining the target motion increment information based on the signal analysis result of the motion state signal after the transportation system is started can improve the motion control flexibility of the transported object.

[0092] Through the above embodiments, the motion control process between transport parts with different driving modes can be adaptively adjusted to meet various transportation needs.

[0093] In a specific implementation, if the transport member can be driven by magnetic coupling, specifically, the driving member and the transport member are magnetically coupled, and a driving force is formed through the interaction of the magnetic field between the driving member and the transport member, and acts on the transport member, so that the transport member moves relative to the driving member. For another example, if the transport member adopts a mechanical coupling method, the transport member can move by itself, or move through the driving member.

[0094] According to actual conditions, the driving mode of the first transport member and the driving mode of the second transport member can be determined. For example, the first transport member can be driven by magnetic coupling, and the second transport member can be driven by mechanical coupling.

[0095] It is understandable that, according to the specific driving method, the expressions of relevant technical features in the embodiments of the present invention (such as "transportation member", "driving member", etc.) can be adaptively adjusted. For example, if the transport member is driven by magnetic coupling, the "transportation member" can be adjusted to a "moving submodule" and the "driving member" can be adjusted to a "stator module". If the transport member is driven by mechanical coupling, the "transportation member" can be adjusted to a "carrying member" and the "driving member" can be adjusted to a "transmission component", etc. The embodiments of the present invention do not impose specific restrictions on this.

[0096] In some embodiments, in combination Figure 2 The transportation system shown illustrates the object selection process of the target moving object and the associated moving object, and the process of performing motion control based on the motion control parameters and the motion state signal.

[0097] Figure 2 The transportation system in the system includes a host computer, a lower computer and transport parts, wherein the host computer and the lower computer are not Figure 2 As shown in the figure, the stator module 21 and the transmission component 22 are respectively connected to the lower computer. After obtaining the setting information, the upper computer generates a linkage setting instruction and sends it to the lower computer. The lower computer controls the stator module 21 to drive the transport member to move according to the received linkage setting instruction, and controls the transmission component 22 to drive the transport member to move.

[0098] Figure 2 The transport system in the invention includes a transport member driven by magnetic coupling (such as Figure 2 The moving submodule 211 and the moving submodule 212) and the transport member driven by mechanical coupling (such as Figure 2 The moving submodule 211 and the moving submodule 212 are driven by the stator module 21, and the object carrier 221 is driven by the transmission assembly 22. The moving submodule 211 and the moving submodule 212 will pass through the object carrier 221 during the movement. According to the actual situation, at least one of the moving submodule 211, the moving submodule 212, and the object carrier 221 can be selected as the target moving object, and the associated moving object can be selected from the main body of the moving submodule 211, the moving submodule 212, and the object carrier 221 that is not selected as the target moving object.

[0099] Taking the mover module 211 and the mover module 212 as an example, the mover module 211 can be selected as the target motion object, and the mover module 212 can be selected as the associated motion object. The mover module 211 and the mover module 212 are bound to each other, and the mover module 212 can be directly controlled to move according to the motion control parameters of the mover module 211. Specifically, the moving distance of the mover module 212 can be controlled according to the distance parameters in the motion control parameters, or the moving speed of the mover module 212 can be controlled according to the speed parameters in the motion control parameters.

[0100] It is understandable that in some embodiments, the mover module 212 may be selected as the target motion object, and the mover module 211 may be selected as the associated motion object. The specific motion control process is similar to the above embodiment and will not be repeated here.

[0101] Taking the mover module 211 and the object carrier 221 as an example, when the object carrier 221 is selected as the target motion object and the mover module 211 is selected as the associated motion object, the mover module 211 is bound to the object carrier 221, and the motion of the mover module 211 can be controlled according to the motion state signal generated based on the object carrier 221. When the mover module 211 is selected as the target motion object and the object carrier 221 is selected as the associated motion object, the object carrier 221 is bound to the mover module 211, and the motion of the object carrier 221 can be controlled according to the motion state signal generated based on the mover module 211.

[0102] It is understandable that in some embodiments, the object carrier 221 can also be selected as the target motion object and the mover module 212 can be selected as the associated motion object, or the mover module 212 can be selected as the target motion object and the object carrier 221 can be selected as the associated motion object. The specific motion control process is similar to the above embodiment and will not be repeated here.

[0103] According to actual needs, Figure 2 The process of transporting items by the transport system in the transport system can be to transfer the item 23 transported by the mover module 211 or the item 24 transported by the mover module 212 to the carrier 221 on the transmission component 22, or to transfer the item on the carrier 221 to any one of the mover module 211 and the mover module 212, that is, the mover module 211 and the mover module 212 can carry the items together, or a single mover module can carry the items.

[0104] It should be noted that the above drawings are only used for schematic description, and the movement direction of the mover module can be controlled according to actual needs. The mover module can also carry objects for movement by connecting to the object carrier, and the embodiment of the present invention does not impose specific restrictions on this.

[0105] It is also understandable that the specific driving mode of the transport member is related to the type of transport device in which the transport member is located. For example, when the transport device is a magnetic drive transport device, the transport member is driven by magnetic coupling, and when the transport device is a transmission transport device, the transport member is driven by mechanical coupling, which is not explicitly limited in the embodiments of the present invention.

[0106] Specifically, for example, when the transport member is in a magnetically driven transport device driven by a linear motor or in a magnetically driven transport device driven by a rotary motor, the transport member can be driven to move by magnetic coupling; when the transport member is in a wheel drive transmission device or in a belt drive transmission device, the transport member can be driven to move by mechanical coupling.

[0107] In some embodiments, setting the transport member selected as the associated motion object to move according to the motion condition of the transport member selected as the target motion object may be to set the associated motion object to move according to the motion state quantity of the target motion object. Figure 5 The process of setting the associated moving object to move according to the motion state of the target moving object is described. Schematically, the target moving object and the associated moving object are selected from a plurality of first transport members, and the motion state of the target moving object is determined by the motion control parameter of the target moving object. Figure 5 Two first transport members (such as Figure 5 The two first transport members are driven by the stator module 51, and taking the mover module 511 and the mover module 512 as an example, when the mover module 511 is selected as the target motion object and the mover module 512 is selected as the associated motion object, the mover module 512 moves according to the motion state quantity of the mover module 511, and the motion state quantity of the mover module 511 can be determined according to the motion control parameters corresponding to the mover module 511.

[0108] It can be understood that setting the associated motion object to move according to the motion state quantity of the target motion object can be to determine the distance state quantity of the target motion object according to the distance parameter in the motion control parameters corresponding to the first transport member selected as the target motion object, and then set the associated motion object to move according to the distance state quantity of the target motion object; it can also be to determine the speed state quantity of the target motion object according to the speed parameter in the motion control parameters corresponding to the first transport member selected as the target motion object, and then set the associated motion object to move according to the speed state quantity of the target motion object.

[0109] In an alternative embodiment, Figure 5For example, when the mover module 511 is selected as the target motion object and the mover module 512 is selected as the associated motion object, the mover module 512 is associated with the mover module 511 to move, and the mover module 511 can first move the target distance in the specified direction, and then determine the above target distance as the distance state quantity of the mover module 511, and control the mover module 512 to follow the mover module 511 to move the target distance in the specified direction according to the distance state quantity of the mover module 511.

[0110] In another alternative embodiment, Figure 5 For example, when the mover module 511 is selected as the target motion object and the mover module 512 is selected as the associated motion object, the mover module 512 is associated with the mover module 511 to move, and the moving speed of the mover module 511 is obtained, and then the above-mentioned moving speed is determined as the speed state quantity of the mover module 511. According to the speed state quantity of the mover module 511, the mover module 512 is controlled to follow the mover module 511 and move at the same speed, so that the relative distance between the mover module 512 and the mover module 511 remains unchanged.

[0111] In some embodiments, the transport member selected as the associated moving object is set to move according to the movement of the transport member selected as the target moving object. Alternatively, the associated moving object may be set to move according to the movement state signal of the target moving object. Figure 6 The process of setting the associated moving object to move according to the moving state signal of the target moving object is described. In the case where the target moving object is selected from the first transport member or the second transport member, and the associated moving object is selected from the second transport member, the associated moving object moves according to the moving state signal of the target moving object. Figure 6 A first transport member (such as Figure 6 The mover module 612 in FIG. 1 and a second transport member (such as Figure 6 The object carrier 621 in the embodiment of the present invention, the movable module 612 is driven by the stator module 611, and the object carrier 621 is driven by the transmission component 62. Taking the movable module 612 and the object carrier 621 as an example, when the movable module 612 is selected as the target moving object and the object carrier 621 is selected as the associated moving object, the object carrier 621 moves according to the motion state signal of the movable module 612.

[0112] It can be understood that setting the associated motion object to move according to the motion state signal of the target motion object can be based on the target motion increment information of the target motion object, the driving mode corresponding to the target motion object and the driving mode corresponding to the associated motion object to determine the associated motion increment information, and then setting the associated motion object to move according to the associated motion increment information. It can also be based on the target motion speed information of the target motion object, the driving mode corresponding to the target motion object and the driving mode corresponding to the associated motion object to determine the associated motion speed information, and then setting the associated motion object to move according to the associated motion speed information.

[0113] In an alternative embodiment, Figure 6 For example, the mover module 612 can reciprocate along the closed path along the stator module 611, and the object carrier 621 can reciprocate along the linear path along the transmission assembly 62. When the mover module 612 is selected as the target motion object and the object carrier 621 is selected as the associated motion object, if the mover module 612 and the object carrier 621 need to move from position A to position B at the same time, the object 63 is transferred from the mover module 612 to the object carrier 621 during the movement, wherein the object carrier 621 and the transmission assembly 62 are The connecting parts between the moving components 62 can support free extension and retraction. During the object transfer process, the carrier can obtain the object by adjusting the extension distance of the connecting parts. The relative area between the stator module 611 and the transmission component 62 is the translation area. Therefore, the target motion increment information of the moving module 612 is the path distance of the moving module 612 moving from position A to position B. Therefore, the carrier 621 is set to move from position A to position B to ensure that the path distance of the moving module 612 and the carrier 621 are the same.

[0114] In an alternative embodiment, Figure 6 For example, if the mover module 612 and the carrier 621 need to move from position A to position B at the same time, the object 63 is transferred from the mover module 612 to the carrier 621 during the movement, and the target movement speed of the mover module 612 can also be obtained. Since the relative area between the stator module 611 and the transmission assembly 62 is a translation area, it can be determined that the associated movement speed is equal to the target movement speed, and then the carrier 621 is set to move from position A to position B at the associated movement speed.

[0115] In an alternative example, Figure 7For example, the mover module 712 can reciprocate along the closed path along the stator module 711, and the object carrier 721 can reciprocate along the linear path along the transmission assembly 72. When the mover module 712 is selected as the target motion object and the object carrier 721 is selected as the associated motion object, if the mover module 712 and the object carrier 721 need to move from position C in the associated motion area 74 to position D at the same time, when the mover module 712 and the object carrier 721 arrive at position D at the same time, the object 73 is moved from the mover module 712 to the position D. Block 712 is transferred to the object carrier 721. The relative area between the stator module 711 and the transmission component 72 is the rotation area. Therefore, the target motion increment information of the movable module 712 is the rotation increment α, that is, the rotation angle of the movable module 712 from position C to position D. The movement equivalent L1 corresponding to the movement of the movable module 712 from position C to position D is determined according to the rotation increment α, and the movement equivalent L1 is determined as the associated motion increment, and then the object carrier 721 is set to move from position C to the associated motion increment L1 to reach position B.

[0116] In some embodiments, the linkage setting instruction may also include: a second setting instruction, the second setting instruction is used to set a spacing adjustment operation to be performed when the actual spacing between the associated motion object and the target motion object does not meet the spacing condition, the spacing adjustment operation is used to adjust the motion of at least one of the associated motion object and the target motion object until the actual spacing meets the spacing condition, and the spacing condition is set based on the target spacing between the associated motion object and the target motion object.

[0117] In some embodiments, if the selected target moving object is transport part A and the selected associated moving object is transport part B, the spacing condition between the transport part A and the transport part B may be set to include at least one of the following:

[0118] 1. Maintain a preset distance between transport parts A and B.

[0119] 2. The distance between transport part A and transport part B is greater than the preset distance.

[0120] 3. The distance between transport part A and transport part B is less than the preset distance.

[0121] 4. The distance between transport part A and transport part B is maintained within the preset distance range.

[0122] It is understandable that when the actual distance between the transport component A and the transport component B does not meet the above spacing condition, the motion control parameters of any one of the transport components can be adjusted to meet the above spacing condition.

[0123] For the spacing condition of maintaining a preset distance between transport member A and transport member B, if a first distance value is set between transport member A and transport member B, when the actual distance between transport member A and transport member B is a second distance value, then transport member A can be controlled to move relatively toward transport member B, or transport member B can be controlled to move relatively toward transport member A, and the distance of relative movement is equal to the difference between the first distance value and the second distance value. The first distance value is less than the second distance value.

[0124] Regarding the spacing condition that the distance between the transport component A and the transport component B is greater than a preset distance, in some embodiments, if the distance between the transport component A and the transport component B is set to be greater than a first distance value, when the actual distance between the transport component A and the transport component B is a second distance value, the transport component A can be controlled to move relatively away from the transport component B, or the transport component B can be controlled to move relatively away from the transport component A, and the moving distance is not less than the difference between the first distance value and the second distance value.

[0125] For the spacing condition that the distance between the transport member A and the transport member B is less than the preset distance, if the distance between the transport member A and the transport member B is set to be less than the first distance value, when the actual distance between the transport member A and the transport member B is the third distance value, the transport member A can be controlled to move relatively toward the transport member B, or the transport member B can be controlled to move relatively toward the transport member A. The moving distance is not less than the difference between the first distance value and the third distance value. The first distance value is less than the third distance value.

[0126] For the spacing condition that the distance between transport component A and transport component B is maintained in a preset distance range, if the distance between transport component A and transport component B is set to be greater than the fourth distance value and less than the fifth distance value, when the actual distance between transport component A and transport component B is the sixth distance value, then transport component A can be controlled to move relatively away from transport component B, or transport component B can be controlled to move relatively away from transport component A, and the moving distance is not less than the difference between the sixth distance value and the fifth distance value and is not greater than the difference between the sixth distance value and the fourth distance value.

[0127] Furthermore, it can be combined with Figure 3-4 Describes the movement of two transport parts while maintaining a preset distance between them. Figure 3 Two first transport members (such as Figure 3The two first transport members are driven by the stator module 31. If the selected target moving object is the moving module 311 and the selected associated moving object is the moving module 312, when the actual distance between the moving module 311 and the moving module 312 is greater than the preset distance, the moving module 312 can be controlled to accelerate in the direction of the moving module 311 until the actual distance between the moving module 311 and the moving module 312 is equal to the preset distance, then the acceleration is stopped. At this time, the moving module 311 and the moving module 312 reach the preset distance. Figure 4 The motion state shown is that the mover module 311 and the mover module 312 maintain a preset distance and move at the same speed.

[0128] In an alternative embodiment, if Figure 3 As shown, Figure 3 The figure also shows the transmission assembly 32 and the object carrier 321. The object carrier 321 is driven by the transmission assembly 32. As an optional solution, when the mover module 311 and the mover module 312 move through the object carrier 321, they can be linked with the object carrier 321 to realize the transfer of items. It should be noted that in some embodiments, the number of the object carriers on the transmission assembly 32 can be one or more, and the object carrier can be a slot part, a clamping part or a toggle part, etc. The specific structure of the object carrier is not limited here. The linkage between the mover module 311, the mover module 312 and the transmission assembly 32 can be the full-range synchronous movement of the two, the synchronous movement of the two in a certain area, or the asynchronous movement of the two.

[0129] Through the above embodiments, the distance between different transport parts during the movement can be flexibly controlled to achieve cooperation between the transport parts or prevent mutual interference between the transport parts, thereby improving the transportation efficiency and the safety of the transportation process.

[0130] Furthermore, the linkage setting instruction also includes: a third setting instruction, the third setting instruction is used to set an object adjustment operation performed according to an associated motion area, the object adjustment operation is used to adjust the target motion object and the associated motion object, and the associated motion area is set based on the motion trajectories of the multiple transport parts.

[0131] In some embodiments, Figure 6For example, the following settings can be made according to the third setting instruction in the linkage setting instruction: when the mover module 612 and the object carrier 621 are located at the starting position A of the associated motion area 64 at the same time, the object carrier 621 is selected as the target motion object, and the mover module 612 is selected as the associated motion object. The mover module 612 follows the object carrier 621 to perform a linkage motion. When the mover module 612 and the object carrier 621 arrive at the end position B of the associated motion area 64 at the same time, the mover module 612 and the object carrier 621 can start to move back from position B to position A. Therefore, the object adjustment operation can be performed when the mover module 612 and the object carrier 621 arrive at position B at the same time, and the mover module 612 is adjusted as the target motion object, and the object carrier 621 is adjusted as the associated motion object. The object carrier 621 follows the mover module 612 for linkage. It is understandable that the object adjustment operation performed above may also be to keep one of the target moving object and the associated moving object unchanged, and replace the other moving object with another object carrier or moving submodule other than the object carrier 621 and the moving submodule 612 (not shown in FIG. Figure 6 ).

[0132] In some embodiments, Figure 8 The transportation system shown includes a stator module 81, a mover module 812 and a mover module 811. The mover module 812 and the mover module 811 are driven by the stator module 81. If the mover module 812 and the mover module 811 are to be controlled to maintain a preset distance L2 for linkage, the target moving object can be selected as the mover module 812, and the associated moving object can be selected as the mover module 811. The mover module 812 remains stationary, and an associated moving area is set on the moving path of the mover module 811, that is, position E. When the mover module 811 moves to position E, the condition that the mover module 812 and the mover module 811 maintain a preset distance L2 is met, and a binding relationship between the mover module 812 and the mover module 811 is established. The mover module 812 starts to move, and the mover module 811 follows the mover module 812 for linkage movement.

[0133] In some embodiments, Fig. 9 The transport system shown includes a stator module 91, a mover module 912 and a mover module 911, and the mover module 912 and the mover module 911 are driven by the stator module 91. Fig. 9As shown, the mover module 911 and the mover module 912 maintain a preset distance L2 and move in the same direction. There is a binding relationship between the mover module 911 and the mover module 912. The target moving object is the mover module 812, and the associated moving object is the mover module 811. An associated moving area, i.e., position G, can be set on the moving path of the mover module 912. When the mover module 912 moves to position G, the binding relationship between the mover module 912 and the mover module 911 is released, and the mover module 911 stops being linked with the mover module 912. It can be understood that the above-mentioned associated moving area can also be set on the moving path of the mover module 911.

[0134] Through the above embodiments, different transport parts can be controlled to establish or release binding motion relationships under different motion situations, so as to achieve the effect of flexibly adjusting the motion following relationship between the transport parts according to complex transportation requirements.

[0135] In a specific implementation, the lower computer includes multiple drive control modules, and there is an electrical connection between the multiple drive control modules. Among the multiple drive control modules, at least one drive control module is used to control the first transport member, and at least one drive control module is used to control the second transport member; sending the linkage setting instruction to the lower computer includes: sending the linkage setting instruction to at least one drive control module corresponding to the target motion object and at least one drive control module corresponding to the associated motion object.

[0136] Further, the lower computer includes a plurality of first drive control modules, the first drive control modules are used to control the first transport member; the plurality of first drive control modules are connected in series; the receiving of the linkage setting instruction sent by the upper computer includes: receiving the linkage setting instruction through the head first drive control module among the plurality of first drive control modules, and circulating the linkage setting instruction among the plurality of first drive control modules according to the connection relationship between the plurality of first drive control modules. Sending first setting feedback information to the upper computer, the first setting feedback information is used to characterize the result of setting of each first drive control module based on the linkage setting instruction.

[0137] In an alternative embodiment, it is possible to combine Fig.10 The instruction distribution process between multiple drive control modules is described, such as Fig.10 As shown, the lower computer includes a plurality of first drive control modules, and the plurality of first drive control modules are connected in series, wherein one of the first drive control modules is directly connected to the upper computer 1000, and the remaining first drive control modules are indirectly connected to the upper computer 1000. According to the connection relationship with the upper computer 1000, the first drive control module directly connected to the upper computer 1000 is the head first drive control module (such as Fig.10The first driving control module 1001 of the head shown in FIG. 1001), the last first driving control module indirectly connected to the host computer 1000 is the first driving control module of the tail (such as Fig.10 The first driving control module 1001 at the head controls the first transport member 10011, the first driving control module 1002 located between the first driving control module 1001 at the head and the first driving control module 1003 at the tail controls the first transport member 10021, and the first driving control module 1003 at the tail controls the first transport member 10031. The first driving control module 1001 at the head receives the linkage setting instruction sent by the upper computer 1000, and then controls the linkage setting instruction according to the connection relationship between the plurality of first driving control modules. The system is forwarded to the first drive control module corresponding to the transport part that needs to be controlled (i.e., one or more of the head first drive control module 1001, the first drive control module 1002, and the tail first drive control module 1003). After the linkage setting instruction is forwarded to the tail first drive control module 1003, the tail first drive control module 1003 feeds back to the host computer 1000 the result of the setting of the head first drive control module 1001, the first drive control module 1002, and the tail first drive control module 1003 based on the linkage setting instruction. Fig.10 There is an electrical connection between the second drive control module 1004 and the second drive control module 1005 and the plurality of first drive control modules. The second drive control module 1004 controls the second transport member 10041 , and the second drive control module 1005 controls the second transport member 10051 .

[0138] Through the above-mentioned embodiments, instructions can be distributed to multiple drive control modules, which improves the efficiency of sending setting instructions, reduces the complexity of the transportation system, and thus makes it easier to maintain and expand the transportation devices in the transportation system.

[0139] A control method for a moving object is also provided in an embodiment of the present invention, which is applied to a lower computer, wherein the lower computer is electrically connected to a first transport device and a second transport device, respectively. The first transport device includes multiple first transport members, and the second transport device includes at least one second transport member. The first transport member and the second transport member adopt different driving methods.

[0140] like Fig.11 FIG. 1 is a flowchart showing another method for controlling a moving object according to an embodiment of the present invention. The method may include the following steps:

[0141] S1102: receiving a linkage setting instruction from a host computer, wherein the linkage setting instruction is generated based on setting information, the setting information is used to indicate an object selection result of selecting a target moving object and an associated moving object from the first transport member and the second transport member, and the target moving object and the associated moving object have a binding relationship;

[0142] S1104: Based on the setting performed by the linkage setting instruction, when it is determined that there is a first transport member selected as the target moving object among the plurality of first transport members, based on the movement of the first transport member corresponding to the target moving object, the associated moving object having a binding relationship with the target moving object is controlled to move, wherein the associated moving object having a binding relationship includes at least one of the following: the first transport member not selected as the target moving object, and the second transport member;

[0143] S1106: Based on the setting made by the linkage setting instruction, when it is determined that there is a first transport part selected as the associated motion object among the multiple first transport parts, based on the movement of the target motion object that has a binding relationship with the associated motion object, the first transport part corresponding to the associated motion object is controlled to move, wherein the target motion object that has a binding relationship includes at least one of the following: the first transport part that has not been selected as the associated motion object, and the second transport part.

[0144] Specifically, in the above step S1106, the method of controlling the movement of the transport component corresponding to the associated moving object may include direct control and indirect control.

[0145] According to the actual situation, when the same transport part is selected as the target moving object in certain time periods, the transport part can be regarded as the reference object for the movement of other transport parts corresponding to the associated moving object, and when the transport part is selected as the associated moving object in other time periods, it can move with reference to other transport parts corresponding to the target moving object. For example, for transport parts A and B, when transport part A is selected as the target moving object and transport part B is selected as the associated moving object in certain time periods, transport part B moves according to the movement of transport part A, and transport part A is the reference object for the movement of transport part B, and when transport part B is selected as the target moving object and transport part A is selected as the associated moving object in other time periods, transport part A moves according to the movement of transport part B, and transport part B is the reference object for the movement of transport part A.

[0146] Through the above steps, the first transport member selected as the target moving object or the associated moving object can be determined by receiving the linkage setting instruction of the upper computer, and the movement status of the first transport member selected as the target moving object is obtained, and then the associated moving object in a binding relationship with the first transport member is controlled to move based on the movement status. For the first transport member selected as the associated moving object, the movement status of the target moving object in a binding relationship with the first transport member is obtained, and then the first transport member is controlled to move based on the movement status. In this way, the coordinated operation of multiple transport members is achieved, and the control diversity of the transport members is increased, thereby solving the problem of how to improve the transportation efficiency when there are transport members with different driving modes in the transportation system in the related technology. Thus, the effect of improving the transportation efficiency is achieved.

[0147] It is understandable that the control method of the moving object provided by the embodiment of the present invention can be specifically applied to transportation scenarios in different industries.

[0148] For example, the control method of the moving object provided by the embodiment of the present invention can be applied to logistics transportation scenarios. Specifically, it can be applied to automatic cargo sorting scenarios, where cargo can be quickly sorted and transported to different storage areas or loading areas through transport pieces with different driving modes.

[0149] Take the transport parts with two driving modes as an example, which can be specifically the first transport parts and the second transport parts with different driving modes. In the process of controlling the first transport parts and the second transport parts to cooperate in transporting goods, the second transport parts can be arranged in different storage areas in advance, and the movement of goods can be controlled by multiple first transport parts in linkage until the logistics transport parts reach the area where the second transport parts are located. During the specific movement, one of the first transport parts can be selected from multiple first transport parts as the target movement object, and another first transport part can be selected from multiple first transport parts as the associated movement object, and the first transport part corresponding to the associated movement object can be controlled to move according to the first transport part corresponding to the target movement object, and then the two first transport parts can be controlled to cooperate with each other to transport the goods. Alternatively, the second transport part can be selected as the target movement object, and one of the first transport parts can be selected from multiple first transport parts as the associated movement object, and the first transport part corresponding to the associated movement object can be controlled to move according to the movement of the second transport part, so that the first transport part corresponding to the associated movement object transfers the goods carried to the second transport part corresponding to the target movement object, thereby achieving the purpose of transporting the goods to different storage areas or loading areas through the second transport part.

[0150] For another example, the control method of the moving object provided by the embodiment of the present invention can be applied to the scene of object detection. Specifically, it can be applied to the scene of sample detection, for example, by transporting containers storing samples through transport parts with different driving modes, and then allocating and managing different containers, and then transporting different containers to designated detection and processing equipment, and the detection and processing equipment detects the contents of the containers.

[0151] In a transport system for transporting biological sample containers, multiple biological sample containers can be transported at the same time. For example, a transport member using two driving modes can be used, specifically, a first transport member and a second transport member using different driving modes. In the above-mentioned transport system, multiple first transport members can be used to carry sample containers, and the first transport members can be fixed to the sample containers. When the contents of the biological sample containers need to be detected or processed by a detection and processing device, one of the multiple first transport members can be selected as an associated motion object, and the detection and processing device (equivalent to the second transport member) can be selected as a target motion object. The first transport member corresponding to the associated motion object is controlled to move according to the detection and processing device, so that the biological sample container to be detected moves to the detection and processing device, so that the detection and processing device detects the contents of the biological sample container to be detected.

[0152] For example, the control method of the moving object provided by the embodiment of the present invention can be applied to a processing scenario. For example, a material processing scenario can be used to transport the material to a designated processing area for processing by a transport unit, and the designated processing area is, for example, an area where the material is sprayed. After the material is sprayed, the transport unit transports the material to the next processing area.

[0153] In a transport system for transporting materials, a transport member using two driving modes is taken as an example, specifically, a first transport member and a second transport member using different driving modes, wherein the first transport member is used to transport materials, and the second transport member is a processing device, which are arranged in different processing areas respectively. After determining the processing flow of the material, one of the processing devices (equivalent to the second transport member) is selected as the target moving object from a plurality of processing devices (equivalent to the second transport member), and the first transport member for transporting the material is selected as the associated moving object, and the first transport member corresponding to the associated moving object is controlled to move according to the movement of the processing device corresponding to the target moving object, so as to realize accurate transportation of the material to the designated processing area. After the processing equipment completes the processing of the material, the first transport member can move the processed food to another processing equipment for the next step of the processing procedure. It can be understood that after reaching the preset processing position, according to the actual situation, at least one of the target moving object and the associated moving object can be re-selected from a plurality of transport members to generate new setting information, or it can not be re-selected, as long as the accurate processing of the material can be ensured.

[0154] In summary, the control method of the moving object provided by the embodiment of the present invention can be specifically applied to transportation scenarios in different industries to improve transportation efficiency and accuracy. It should be noted that the above usage scenarios are only examples, and any scenario related to the object transportation process can utilize the solution of the present invention. This embodiment does not make any limitation to this.

[0155] In a specific implementation, the control of the associated moving object that is bound to the target moving object to move is based on the movement of the first transport piece corresponding to the target moving object, including: when it is determined that the associated moving object is the first transport piece that has not been selected as the target moving object, based on the movement state quantity of the first transport piece corresponding to the target moving object, controlling the first transport piece corresponding to the associated moving object to move, the movement state quantity being determined according to the movement control parameters adopted by the target moving object.

[0156] In a specific implementation, the number of the first transport members may be one or more. When the number of the first transport members is multiple, the target moving object and the associated moving object may correspond to different first transport members respectively. At this time, in the process of setting the transport member selected as the associated moving object to move according to the movement of the transport member selected as the target moving object, it may include: when the target moving object and the associated moving object are selected from the multiple first transport members, setting the associated moving object to move according to the movement state quantity of the target moving object, and the movement state quantity is determined according to the movement control parameter of the target moving object.

[0157] Specifically, the first transport member is configured with motion control parameters, and the motion control parameters are used to control the motion state quantity of the first transport member. When the first transport member exists as a target moving object, since the first transport member selected as the target moving object can move using the configured motion control parameters, the motion state quantity of the first transport member corresponding to the target moving object is determined by the motion control parameters.

[0158] Therefore, the cooperative movement among the plurality of first transport members can be ensured through the movement state quantity of the first transport member corresponding to the target moving object, thereby improving the controllability of the plurality of first transport members.

[0159] It can be understood that since the driving methods of multiple first transport members are the same, when the target moving object corresponds to the first transport member, the first transport member selected as the associated moving object can adopt the motion control parameters configured for the first transport member corresponding to the target moving object, thereby achieving the effect of moving according to the motion conditions of the first transport member corresponding to the target moving object. Therefore, by sharing the motion control parameters, the response speed of the first transport member selected as the associated moving object can be improved, the control difficulty and complexity can be reduced, and the precise matching of the motions between multiple first transport members can be ensured.

[0160] In a specific implementation, the motion control parameter can be used to control the speed state quantity of the first transport member, and can also be used to control the distance state quantity of the first transport member, wherein the speed state quantity corresponds to the speed of the first transport member, and the distance state quantity corresponds to the distance of the first transport member. The speed can be a linear speed or an angular speed, and the distance can be a straight-line distance or a curved distance.

[0161] In a specific implementation, the control of the movement of the first transport member corresponding to the associated moving object based on the motion state quantity of the first transport member corresponding to the target moving object includes at least one of the following: controlling the movement of the first transport member corresponding to the associated moving object based on the distance state quantity of the first transport member corresponding to the target moving object, the distance state quantity being determined according to the distance parameter in the motion control parameters; controlling the movement of the first transport member corresponding to the associated moving object based on the speed state quantity of the first transport member corresponding to the target moving object, the speed state quantity being determined according to the speed parameter in the motion control parameters.

[0162] In a specific implementation, based on the movement status of the first transport piece corresponding to the target motion object, the associated motion object that is bound to the target motion object is controlled to move, including: when it is determined that the associated motion object is the second transport piece, based on the motion status signal of the first transport piece corresponding to the target motion object, the second transport piece corresponding to the associated motion object is controlled to move.

[0163] Specifically, the second transport member may have two motion states, namely, a stationary state and a transport state. The motion state signal of the second transport member is generated based on the motion state of the second transport member, and can be used to indicate the motion state of the second transport member, that is, can be used to indicate whether the second transport member is in a stationary state or a transport state. It is understandable that the motion state signal of the second transport member can be specifically generated based on the current motion state of the second transport member, or the motion state signal can be generated based on the upcoming motion state of the second transport member.

[0164] In practical applications, the motion state signal can also be generated based on the internal signal of the second transport member, or by detecting the structural members in the second transport member. When the motion state of the second transport member is the transport state, the motion state indicated by the motion state signal can be a rotational state or a linear motion state according to the specific generation method of the motion state signal.

[0165] In a specific implementation, the controlling of the second transport member corresponding to the associated motion object to move based on the motion state signal of the first transport member corresponding to the target motion object includes at least one of the following: controlling the second transport member corresponding to the associated motion object to move according to associated motion incremental information, wherein the associated motion incremental information is determined based on the target motion incremental information corresponding to the motion state signal, the driving mode of the second transport member corresponding to the associated motion object, and the driving mode of the first transport member corresponding to the target motion object; controlling the second transport member corresponding to the associated motion object to move according to associated motion speed information, wherein the associated motion speed information is determined based on the target motion speed information corresponding to the motion state signal, the driving mode of the second transport member corresponding to the associated motion object, and the driving mode of the first transport member corresponding to the target motion object.

[0166] In a specific implementation, according to a specific driving method, the transport member can perform linear motion or rotational motion. The linear motion can be a straight line motion or a curved motion. For example, the first transport member performs linear motion and the second transport member performs rotational motion. For another example, both the first transport member and the second transport member perform linear motion.

[0167] When the transport part corresponding to the target moving object performs linear motion, the target motion increment information may be linear distance increment information, and the target motion speed information may be linear speed information; when the transport part corresponding to the target moving object performs rotational motion, the target motion increment information may be rotational distance increment information, and the target motion speed information may be rotational speed information. The rotational speed information may further include rotational speed quantity, rotational acceleration quantity, etc.

[0168] When the transport part corresponding to the associated motion object performs linear motion, the associated motion incremental information may be linear distance incremental information, and the associated motion speed information may be linear speed information; when the transport part corresponding to the associated motion object performs rotational motion, the associated motion incremental information may be rotational distance incremental information, and the associated motion speed information may be rotational speed information.

[0169] It can be understood that the linear distance increment information includes but is not limited to the straight-line distance between the starting point and the end point of the transported item during the movement, and the path length between the starting point and the end point of the transported item during the movement.

[0170] In specific implementation, the specific source of the motion state signal can be determined according to the internal structure of the transport device where the transported object is located. For example, the motion state signal can be generated based on a control signal that can drive the transported object to move; for another example, the motion state signal can be generated based on detecting the motion state of the transported object. According to the specific acquisition source of the motion state signal, the target motion state quantity information corresponding to the motion state signal can be determined by calculation or signal analysis, that is, at least one of the target motion increment information and the target motion speed information can be determined by calculation or signal analysis.

[0171] In some embodiments, it is possible but not limited to determine the target motion increment information corresponding to the motion state signal by calculation before the transportation system is started, so that when setting the associated motion object to move according to the associated motion increment information, the target motion increment information can be directly retrieved, or, after the transportation system is started, the target motion increment information is determined by performing signal analysis on the motion state signal, so as to be used when setting the associated motion object to move according to the associated motion increment information. Determining the target motion increment information before the transportation system is started can further improve the response speed to the motion state signal, and dynamically determining the target motion increment information based on the signal analysis result of the motion state signal after the transportation system is started can improve the motion control flexibility of the transported object.

[0172] Through the above embodiments, the motion control process between transport parts with different driving modes can be adaptively adjusted to meet various transportation needs.

[0173] In a specific implementation, if the transport member can be driven by magnetic coupling, specifically, the driving member and the transport member are magnetically coupled, and a driving force is formed through the interaction of the magnetic field between the driving member and the transport member, and acts on the transport member, so that the transport member moves relative to the driving member. For another example, if the transport member adopts a mechanical coupling method, the transport member can move by itself, or move through the driving member.

[0174] According to actual conditions, the driving mode of the first transport member and the driving mode of the second transport member can be determined. For example, the first transport member can be driven by magnetic coupling, and the second transport member can be driven by mechanical coupling.

[0175] It is understandable that, according to the specific driving method, the expressions of relevant technical features in the embodiments of the present invention (such as "transportation member", "driving member", etc.) can be adaptively adjusted. For example, if the transport member is driven by magnetic coupling, the "transportation member" can be adjusted to a "moving submodule" and the "driving member" can be adjusted to a "stator module". If the transport member is driven by mechanical coupling, the "transportation member" can be adjusted to a "carrying member" and the "driving member" can be adjusted to a "transmission component", etc. The embodiments of the present invention do not impose specific restrictions on this.

[0176] In some embodiments, in combination Figure 2 The transportation system shown illustrates the object selection process of the target moving object and the associated moving object, and the process of performing motion control based on the motion control parameters and the motion state signal.

[0177] Figure 2 The transportation system in the system includes a host computer, a lower computer and transport parts, wherein the host computer and the lower computer are not Figure 2 As shown in the figure, the stator module 21 and the transmission component 22 are respectively connected to the lower computer. After obtaining the setting information, the upper computer generates a linkage setting instruction and sends it to the lower computer. The lower computer controls the stator module 21 to drive the transport member to move according to the received linkage setting instruction, and controls the transmission component 22 to drive the transport member to move.

[0178] Figure 2 The transport system in the invention includes a transport member driven by magnetic coupling (such as Figure 2 The moving submodule 211 and the moving submodule 212) and the transport member driven by mechanical coupling (such as Figure 2 The moving submodule 211 and the moving submodule 212 are driven by the stator module 21, and the object carrier 221 is driven by the transmission assembly 22. The moving submodule 211 and the moving submodule 212 will pass through the object carrier 221 during the movement. According to the actual situation, at least one of the moving submodule 211, the moving submodule 212, and the object carrier 221 can be selected as the target moving object, and the associated moving object can be selected from the main body of the moving submodule 211, the moving submodule 212, and the object carrier 221 that is not selected as the target moving object.

[0179] Taking the mover module 211 and the mover module 212 as an example, the mover module 211 can be selected as the target motion object, and the mover module 212 can be selected as the associated motion object. The mover module 211 and the mover module 212 are bound to each other, and the mover module 212 can be directly controlled to move according to the motion control parameters of the mover module 211. Specifically, the moving distance of the mover module 212 can be controlled according to the distance parameters in the motion control parameters, or the moving speed of the mover module 212 can be controlled according to the speed parameters in the motion control parameters.

[0180] It is understandable that in some embodiments, the mover module 212 may be selected as the target motion object, and the mover module 211 may be selected as the associated motion object. The specific motion control process is similar to the above embodiment and will not be repeated here.

[0181] Taking the mover module 211 and the object carrier 221 as an example, when the object carrier 221 is selected as the target motion object and the mover module 211 is selected as the associated motion object, the mover module 211 is bound to the object carrier 221, and the motion of the mover module 211 can be controlled according to the motion state signal generated based on the object carrier 221. When the mover module 211 is selected as the target motion object and the object carrier 221 is selected as the associated motion object, the object carrier 221 is bound to the mover module 211, and the motion of the object carrier 221 can be controlled according to the motion state signal generated based on the mover module 211.

[0182] It is understandable that in some embodiments, the object carrier 221 can also be selected as the target motion object and the mover module 212 can be selected as the associated motion object, or the mover module 212 can be selected as the target motion object and the object carrier 221 can be selected as the associated motion object. The specific motion control process is similar to the above embodiment and will not be repeated here.

[0183] According to actual needs, Figure 2 The process of transporting items by the transport system in the transport system can be to transfer the item 23 transported by the mover module 211 or the item 24 transported by the mover module 212 to the carrier 221 on the transmission component 22, or to transfer the item on the carrier 221 to any one of the mover module 211 and the mover module 212, that is, the mover module 211 and the mover module 212 can carry the items together, or a single mover module can carry the items.

[0184] It should be noted that the above drawings are only used for schematic description, and the movement direction of the mover module can be controlled according to actual needs. The mover module can also be connected to a carrier to carry objects for movement, and the embodiment of the present invention does not impose specific limitations on this.

[0185] It is also understandable that the specific driving mode of the transport member is related to the type of transport device in which the transport member is located. For example, when the transport device is a magnetic drive transport device, the transport member is driven by magnetic coupling, and when the transport device is a transmission transport device, the transport member is driven by mechanical coupling, which is not explicitly limited in the embodiments of the present invention.

[0186] Specifically, for example, when the transport member is in a magnetically driven transport device driven by a linear motor or in a magnetically driven transport device driven by a rotary motor, the transport member can be driven to move by magnetic coupling; when the transport member is in a wheel drive transmission device or in a belt drive transmission device, the transport member can be driven to move by mechanical coupling.

[0187] In some embodiments, setting the transport member selected as the associated motion object to move according to the motion condition of the transport member selected as the target motion object may be to set the associated motion object to move according to the motion state quantity of the target motion object. Figure 5 The process of setting the associated moving object to move according to the motion state of the target moving object is described. Schematically, the target moving object and the associated moving object are selected from a plurality of first transport members, and the motion state of the target moving object is determined by the motion control parameter of the target moving object. Figure 5 Two first transport members (such as Figure 5 The two first transport members are driven by the stator module 51, and taking the mover module 511 and the mover module 512 as an example, when the mover module 511 is selected as the target motion object and the mover module 512 is selected as the associated motion object, the mover module 512 moves according to the motion state quantity of the mover module 511, and the motion state quantity of the mover module 511 can be determined according to the motion control parameters corresponding to the mover module 511.

[0188] It can be understood that setting the associated motion object to move according to the motion state quantity of the target motion object can be to determine the distance state quantity of the target motion object according to the distance parameter in the motion control parameters corresponding to the first transport member selected as the target motion object, and then set the associated motion object to move according to the distance state quantity of the target motion object; it can also be to determine the speed state quantity of the target motion object according to the speed parameter in the motion control parameters corresponding to the first transport member selected as the target motion object, and then set the associated motion object to move according to the speed state quantity of the target motion object.

[0189] In an alternative embodiment, Figure 5 For example, when the mover module 511 is selected as the target motion object and the mover module 512 is selected as the associated motion object, the mover module 512 is associated with the mover module 511 to move, and the mover module 511 can first move the target distance in the specified direction, and then determine the above target distance as the distance state quantity of the mover module 511, and control the mover module 512 to follow the mover module 511 to move the target distance in the specified direction according to the distance state quantity of the mover module 511.

[0190] In another alternative embodiment, Figure 5For example, when the mover module 511 is selected as the target motion object and the mover module 512 is selected as the associated motion object, the mover module 512 is associated with the mover module 511 to move, and the moving speed of the mover module 511 is obtained, and then the above-mentioned moving speed is determined as the speed state quantity of the mover module 511. According to the speed state quantity of the mover module 511, the mover module 512 is controlled to follow the mover module 511 and move at the same speed, so that the relative distance between the mover module 512 and the mover module 511 remains unchanged.

[0191] In some embodiments, the transport member selected as the associated moving object is set to move according to the movement of the transport member selected as the target moving object. Alternatively, the associated moving object may be set to move according to the movement state signal of the target moving object. Figure 6 The process of setting the associated moving object to move according to the moving state signal of the target moving object is described. In the case where the target moving object is selected from the first transport member or the second transport member, and the associated moving object is selected from the second transport member, the associated moving object moves according to the moving state signal of the target moving object. Figure 6 A first transport member (such as Figure 6 The mover module 612 in FIG. 1 and a second transport member (such as Figure 6 The object carrier 621 in the embodiment of the present invention, the movable module 612 is driven by the stator module 611, and the object carrier 621 is driven by the transmission component 62. Taking the movable module 612 and the object carrier 621 as an example, when the movable module 612 is selected as the target moving object and the object carrier 621 is selected as the associated moving object, the object carrier 621 moves according to the motion state signal of the movable module 612.

[0192] It can be understood that setting the associated motion object to move according to the motion state signal of the target motion object can be based on the target motion increment information of the target motion object, the driving mode corresponding to the target motion object and the driving mode corresponding to the associated motion object to determine the associated motion increment information, and then setting the associated motion object to move according to the associated motion increment information. It can also be based on the target motion speed information of the target motion object, the driving mode corresponding to the target motion object and the driving mode corresponding to the associated motion object to determine the associated motion speed information, and then setting the associated motion object to move according to the associated motion speed information.

[0193] In an alternative embodiment, Figure 6For example, the mover module 612 can reciprocate along the closed path along the stator module 611, and the object carrier 621 can reciprocate along the linear path along the transmission assembly 62. When the mover module 612 is selected as the target motion object and the object carrier 621 is selected as the associated motion object, if the mover module 612 and the object carrier 621 need to move from position A to position B at the same time, the object 63 is transferred from the mover module 612 to the object carrier 621 during the movement, wherein the object carrier 621 and the transmission assembly 62 are The connecting parts between the moving components 62 can support free extension and retraction. During the object transfer process, the carrier can obtain the object by adjusting the extension distance of the connecting parts. The relative area between the stator module 611 and the transmission component 62 is the translation area. Therefore, the target motion increment information of the moving module 612 is the path distance of the moving module 612 moving from position A to position B. Therefore, the carrier 621 is set to move from position A to position B to ensure that the path distance of the moving module 612 and the carrier 621 are the same.

[0194] In an alternative embodiment, Figure 6 For example, if the mover module 612 and the carrier 621 need to move from position A to position B at the same time, the object 63 is transferred from the mover module 612 to the carrier 621 during the movement, and the target movement speed of the mover module 612 can also be obtained. Since the relative area between the stator module 611 and the transmission assembly 62 is a translation area, it can be determined that the associated movement speed is equal to the target movement speed, and then the carrier 621 is set to move from position A to position B at the associated movement speed.

[0195] In an alternative example, Figure 7 For example, the mover module 712 can reciprocate along the closed path along the stator module 711, and the object carrier 721 can reciprocate along the linear path along the transmission assembly 72. When the mover module 712 is selected as the target motion object and the object carrier 721 is selected as the associated motion object, if the mover module 712 and the object carrier 721 need to move from position C in the associated motion area 74 to position D at the same time, when the mover module 712 and the object carrier 721 arrive at position D at the same time, the object 73 is moved from the mover module 712 to the position D. Block 712 is transferred to the object carrier 721. The relative area between the stator module 711 and the transmission component 72 is the rotation area. Therefore, the target motion increment information of the movable module 712 is the rotation increment α, that is, the rotation angle of the movable module 712 from position C to position D. The movement equivalent L1 corresponding to the movement of the movable module 712 from position C to position D is determined according to the rotation increment α, and the movement equivalent L1 is determined as the associated motion increment, and then the object carrier 721 is set to move from position C to the associated motion increment L1 to reach position B.

[0196] In a specific implementation, based on the setting of the linkage setting instruction, when the actual distance between the associated moving object and the target moving object does not meet the distance condition, a distance adjustment operation is performed, and the distance adjustment operation is used to adjust the movement of the first transport member selected as the target moving object or the associated moving object until the actual distance meets the distance condition, and the distance condition is set based on the target distance between the associated moving object and the target moving object.

[0197] In some embodiments, if the selected target moving object is transport part A and the selected associated moving object is transport part B, the spacing condition between the transport part A and the transport part B may be set to include at least one of the following:

[0198] 1. Maintain a preset distance between transport parts A and B.

[0199] 2. The distance between transport part A and transport part B is greater than the preset distance.

[0200] 3. The distance between transport part A and transport part B is less than the preset distance.

[0201] 4. The distance between transport part A and transport part B is maintained within the preset distance range.

[0202] It is understandable that when the actual distance between the transport component A and the transport component B does not meet the above spacing condition, the motion control parameters of any one of the transport components can be adjusted to meet the above spacing condition.

[0203] For the spacing condition of maintaining a preset distance between transport member A and transport member B, if a first distance value is set between transport member A and transport member B, when the actual distance between transport member A and transport member B is a second distance value, then transport member A can be controlled to move relatively toward transport member B, or transport member B can be controlled to move relatively toward transport member A, and the distance of relative movement is equal to the difference between the first distance value and the second distance value. The first distance value is less than the second distance value.

[0204] For the spacing condition that the distance between the transport component A and the transport component B is greater than the preset distance, in some embodiments, if the distance between the transport component A and the transport component B is set to be greater than the first distance value, when the actual distance between the transport component A and the transport component B is the second distance value, the transport component A can be controlled to move relatively away from the transport component B, or the transport component B can be controlled to move relatively away from the transport component A, and the moving distance is not less than the difference between the first distance value and the second distance value.

[0205] For the spacing condition that the distance between the transport member A and the transport member B is less than the preset distance, if the distance between the transport member A and the transport member B is set to be less than the first distance value, when the actual distance between the transport member A and the transport member B is the third distance value, the transport member A can be controlled to move relatively toward the transport member B, or the transport member B can be controlled to move relatively toward the transport member A. The moving distance is not less than the difference between the first distance value and the third distance value. The first distance value is less than the third distance value.

[0206] For the spacing condition that the distance between transport component A and transport component B is maintained in a preset distance range, if the distance between transport component A and transport component B is set to be greater than the fourth distance value and less than the fifth distance value, when the actual distance between transport component A and transport component B is the sixth distance value, then transport component A can be controlled to move relatively away from transport component B, or transport component B can be controlled to move relatively away from transport component A, and the moving distance is not less than the difference between the sixth distance value and the fifth distance value and is not greater than the difference between the sixth distance value and the fourth distance value.

[0207] Furthermore, it can be combined with Figure 3-4 Describes the movement of two transport parts while maintaining a preset distance between them. Figure 3 Two first transport members (such as Figure 3 The two first transport members are driven by the stator module 31. If the selected target moving object is the moving module 311 and the selected associated moving object is the moving module 312, when the actual distance between the moving module 311 and the moving module 312 is greater than the preset distance, the moving module 312 can be controlled to accelerate in the direction of the moving module 311 until the actual distance between the moving module 311 and the moving module 312 is equal to the preset distance, then the acceleration is stopped. At this time, the moving module 311 and the moving module 312 reach the preset distance. Figure 4 The motion state shown is that the mover module 311 and the mover module 312 maintain a preset distance and move at the same speed.

[0208] In an alternative embodiment, if Figure 3 As shown, Figure 3The figure also shows the transmission assembly 32 and the object carrier 321. The object carrier 321 is driven by the transmission assembly 32. As an optional solution, when the mover module 311 and the mover module 312 move through the object carrier 321, they can be linked with the object carrier 321 to realize the transfer of items. It should be noted that in some embodiments, the number of the object carriers on the transmission assembly 32 can be one or more, and the object carrier can be a slot part, a clamping part or a toggle part, etc. The specific structure of the object carrier is not limited here. The linkage between the mover module 311, the mover module 312 and the transmission assembly 32 can be the full-range synchronous movement of the two, the synchronous movement of the two in a certain area, or the asynchronous movement of the two.

[0209] Through the above embodiments, the distance between different transport parts during the movement can be flexibly controlled to achieve cooperation between the transport parts or prevent mutual interference between the transport parts, thereby improving the transportation efficiency and the safety of the transportation process.

[0210] In a specific implementation, based on the setting of the linkage setting instruction, an object adjustment operation is performed according to the associated motion area, and the object adjustment operation is used to adjust the target motion object and the associated motion object. The associated motion area is set based on the motion trajectory of the first transport member and the motion trajectory of the second transport member.

[0211] In some embodiments, Figure 6 For example, the following settings can be made according to the third setting instruction in the linkage setting instruction: when the mover module 612 and the object carrier 621 are located at the starting position A of the associated motion area 64 at the same time, the object carrier 621 is selected as the target motion object, and the mover module 612 is selected as the associated motion object. The mover module 612 follows the object carrier 621 to perform a linkage motion. When the mover module 612 and the object carrier 621 arrive at the end position B of the associated motion area 64 at the same time, the mover module 612 and the object carrier 621 can start to move back from position B to position A. Therefore, the object adjustment operation can be performed when the mover module 612 and the object carrier 621 arrive at position B at the same time, and the mover module 612 is adjusted as the target motion object, and the object carrier 621 is adjusted as the associated motion object. The object carrier 621 follows the mover module 612 for linkage. It is understandable that the object adjustment operation performed above may also be to keep one of the target moving object and the associated moving object unchanged, and replace the other moving object with another object carrier or moving submodule other than the object carrier 621 and the moving submodule 612 (not shown in FIG. Figure 6 ).

[0212] In some embodiments, Figure 8The transportation system shown includes a stator module 81, a mover module 812 and a mover module 811. The mover module 812 and the mover module 811 are driven by the stator module 81. If the mover module 812 and the mover module 811 are to be controlled to maintain a preset distance L2 for linkage, the target moving object can be selected as the mover module 812, and the associated moving object can be selected as the mover module 811. The mover module 812 remains stationary, and an associated moving area is set on the moving path of the mover module 811, that is, position E. When the mover module 811 moves to position E, the condition that the mover module 812 and the mover module 811 maintain a preset distance L2 is met, and a binding relationship between the mover module 812 and the mover module 811 is established. The mover module 812 starts to move, and the mover module 811 follows the mover module 812 for linkage movement.

[0213] In some embodiments, Fig. 9 The transport system shown includes a stator module 91, a mover module 912 and a mover module 911, and the mover module 912 and the mover module 911 are driven by the stator module 91. Fig. 9 As shown, the mover module 911 and the mover module 912 maintain a preset distance L2 and move in the same direction, and there is a binding relationship between the mover module 911 and the mover module 912. The target moving object is the mover module 812, and the associated moving object is the mover module 811. An associated moving area, i.e., position G, can be set on the moving path of the mover module 912. When the mover module 912 moves to position G, the binding relationship between the mover module 912 and the mover module 911 is released, and the mover module 911 stops being linked with the mover module 912. It can be understood that the above-mentioned associated moving area can also be set on the moving path of the mover module 911. Through the above-mentioned embodiments, different transport parts can be controlled to establish or release binding moving relationships under different moving conditions, so as to achieve the effect of flexibly adjusting the moving following relationship between the transport parts according to complex transportation needs.

[0214] Through the above embodiments, different transport parts can be controlled to establish or release binding motion relationships under different motion situations, so as to achieve the effect of flexibly adjusting the motion following relationship between the transport parts according to complex transportation requirements.

[0215] In a specific implementation, the lower computer includes a plurality of first drive control modules, the first drive control modules are used to control the first transport member; the plurality of first drive control modules are connected in series; the receiving of the linkage setting instruction sent by the upper computer includes: receiving the linkage setting instruction through the head first drive control module among the plurality of first drive control modules, and circulating the linkage setting instruction among the plurality of first drive control modules according to the connection relationship between the plurality of first drive control modules. Sending first setting feedback information to the upper computer, the first setting feedback information is used to characterize the result of the setting of each first drive control module based on the linkage setting instruction.

[0216] In an alternative embodiment, it is possible to combine Fig.10 The instruction distribution process between multiple drive control modules is described, such as Fig.10 As shown, the lower computer includes a plurality of first drive control modules, and the plurality of first drive control modules are connected in series, wherein one of the first drive control modules is directly connected to the upper computer 1000, and the remaining first drive control modules are indirectly connected to the upper computer 1000. According to the connection relationship with the upper computer 1000, the first drive control module directly connected to the upper computer 1000 is the head first drive control module (such as Fig.10 The first driving control module 1001 of the head shown in FIG. 1001), the last first driving control module indirectly connected to the host computer 1000 is the first driving control module of the tail (such as Fig.10 The first driving control module 1001 at the head controls the first transport member 10011, the first driving control module 1002 located between the first driving control module 1001 at the head and the first driving control module 1003 at the tail controls the first transport member 10021, and the first driving control module 1003 at the tail controls the first transport member 10031. The first driving control module 1001 at the head receives the linkage setting instruction sent by the upper computer 1000, and then controls the linkage setting instruction according to the connection relationship between the plurality of first driving control modules. The system is forwarded to the first drive control module corresponding to the transport part that needs to be controlled (i.e., one or more of the head first drive control module 1001, the first drive control module 1002, and the tail first drive control module 1003). After the linkage setting instruction is forwarded to the tail first drive control module 1003, the tail first drive control module 1003 feeds back to the host computer 1000 the result of the setting of the head first drive control module 1001, the first drive control module 1002, and the tail first drive control module 1003 based on the linkage setting instruction. Fig.10There is an electrical connection between the second drive control module 1004 and the second drive control module 1005 and the plurality of first drive control modules. The second drive control module 1004 controls the second transport member 10041 , and the second drive control module 1005 controls the second transport member 10051 .

[0217] Through the above-mentioned embodiments, instructions can be distributed to multiple drive control modules, which improves the efficiency of sending setting instructions, reduces the complexity of the transportation system, and thus makes it easier to maintain and expand the transportation devices in the transportation system.

[0218] In an embodiment of the present invention, a control device for a moving object is also provided, and the device is used to implement the above-mentioned embodiment and optional implementation mode, and the descriptions that have been made are not repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware is also possible and conceived.

[0219] Fig.12 FIG. 4 shows a structural block diagram of a control device for a moving object according to an embodiment of the present invention. Fig.12 As shown, the device comprises:

[0220] An acquisition module 1202 is used to acquire setting information, wherein the setting information is used to indicate an object selection result of selecting a target moving object and an associated moving object from a plurality of transport objects, respectively, and the target moving object and the associated moving object have a binding relationship;

[0221] The instruction generation module 1204 is used to generate a linkage setting instruction based on the setting information, wherein the linkage setting instruction includes: a first setting instruction, the first setting instruction is used to set the transport part selected as the associated motion object to move according to the motion condition of the transport part selected as the target motion object;

[0222] The first communication module 1206 is used to send the linkage setting instruction to the lower computer, so that the lower computer controls the motion of the multiple transport members according to the linkage setting instruction.

[0223] Through the above-mentioned device, by obtaining setting information, it is possible to first determine the object selection results of selecting target motion objects and associated motion objects that have a binding relationship from multiple transport parts, and then generate a linkage setting instruction based on the setting information, wherein the linkage setting instruction includes a first setting instruction for setting the transport part selected as the associated motion object to move according to the movement of the transport part selected as the target motion object, and then send the linkage setting instruction to the lower computer, so that the lower computer controls the movement of the multiple transport parts according to the linkage setting instruction. Therefore, by utilizing the setting information, it is possible to determine the transport parts selected as the target motion object and the transport parts selected as the associated motion object, and then establish an association between the transport parts selected as the target motion object and the transport parts selected as the associated motion object through the binding relationship between the target motion object and the associated motion object. In this way, after sending the linkage setting instruction to the lower computer, the movement mode between the transport parts selected as the target motion object and the transport parts selected as the associated motion object can be set, so that the transport parts selected as the associated motion object can move according to the movement conditions of the transport parts selected as the target motion object, which not only realizes the coordinated operation between multiple transport parts, but also increases the control diversity of the transport parts, thereby solving the problem of how to improve the transportation efficiency when there are transport parts with different driving modes in the transportation system in the related technology, thereby achieving the effect of improving the transportation efficiency.

[0224] The acquisition module 1202 is further configured to select at least one of the first transport components as a target moving object, or select at least one of the first transport components as an associated moving object.

[0225] The instruction generation module 1204 is also used to set the associated motion object to move according to the motion state quantity of the target motion object when the target motion object and the associated motion object are selected from multiple first transport members, and the motion state quantity is determined according to the motion control parameters corresponding to the first transport member selected as the target motion object.

[0226] The instruction generation module 1204 is also used to set the associated motion object to move according to the distance state quantity of the target motion object, and the distance state quantity is determined according to the motion control parameter distance parameter; set the associated motion object to move according to the speed state quantity of the target motion object, and the speed state quantity is determined according to the motion control parameter speed parameter.

[0227] The instruction generation module 1204 is also used to set the associated moving object to move according to the motion state signal of the target moving object when the target moving object is selected from the first transport member or the second transport member, and when the associated moving object is selected from the second transport member.

[0228] The instruction generation module 1204 is also used to set the associated motion object to move according to associated motion incremental information, and the associated motion incremental information is determined based on the target motion incremental information corresponding to the motion state signal, the driving mode corresponding to the associated motion object, and the driving mode corresponding to the target motion object; set the associated motion object to move according to associated motion speed information, and the associated motion speed information is determined based on the target motion speed information corresponding to the motion state signal, the driving mode corresponding to the associated motion object, and the driving mode corresponding to the target motion object.

[0229] The linkage setting instruction generated by the instruction generation module 1204 also includes: a second setting instruction, the second setting instruction is used to set a spacing adjustment operation to be performed when the actual spacing between the associated motion object and the target motion object does not meet the spacing condition, the spacing adjustment operation is used to adjust the motion of at least one of the associated motion object and the target motion object until the actual spacing meets the spacing condition, and the spacing condition is set based on the target spacing between the associated motion object and the target motion object.

[0230] The linkage setting instruction generated by the generation module 1204 also includes: a third setting instruction, the third setting instruction is used to set an object adjustment operation performed according to an associated motion area, the object adjustment operation is used to adjust the target motion object and the associated motion object, and the associated motion area is set based on the motion trajectory of the multiple transport parts.

[0231] The first communication module 1206 is further configured to send the linkage setting instruction to at least one drive control module corresponding to the target moving object and at least one drive control module corresponding to the associated moving object.

[0232] The first communication module 1206 is further configured to send the linkage setting instruction to a head first driving control module among the plurality of first driving control modules, so that the linkage setting instruction is circulated according to the connection relationship between the plurality of first driving control modules.

[0233] The first communication module 1206 is also used to receive setting feedback information from the lower computer, and the setting feedback information includes first setting feedback information from the tail first drive control module among the multiple first drive control modules, and the first setting feedback information is used to characterize the results of the settings of each first drive control module based on the linkage setting instruction.

[0234] Fig.13 FIG. 4 shows a structural block diagram of another control device for a moving object according to an embodiment of the present invention. Fig.13 As shown, the device comprises:

[0235] The second communication module 1302 is used to receive a linkage setting instruction from a host computer, wherein the linkage setting instruction is generated based on setting information, and the setting information is used to indicate the object selection result of the target motion object and the associated motion object, and the target motion object and the associated motion object have a binding relationship;

[0236] The first control module 1304 is used for controlling the associated moving objects that have a binding relationship with the target moving object to move based on the setting performed by the linkage setting instruction, when it is determined that there is a first moving object selected as the target moving object among the plurality of the first moving objects, based on the movement of the first moving object corresponding to the target moving object, wherein the associated moving objects that have a binding relationship include at least one of the following: the first moving object that is not selected as the target moving object, and the second moving object;

[0237] The second control module 1306 is used for setting based on the linkage setting instruction. When it is determined that there is a first transport piece selected as the associated motion object among the multiple first transport pieces, based on the movement of the target motion object that has a binding relationship with the associated motion object, the first transport piece corresponding to the associated motion object is controlled to move, wherein the target motion object that has a binding relationship includes at least one of the following: the first transport piece that is not selected as the associated motion object, and the second transport piece.

[0238] Through the above device, the first transport member selected as the target moving object or the associated moving object can be determined by receiving the linkage setting instruction of the upper computer. For the first transport member selected as the target moving object, the movement status of the first transport member is obtained, and then the associated moving object in a binding relationship with the first transport member is controlled to move based on the movement status. For the first transport member selected as the associated moving object, the movement status of the target moving object in a binding relationship with the first transport member is obtained, and then the first transport member is controlled to move based on the movement status. In this way, the coordinated operation of multiple transport members is achieved, and the control diversity of the transport members is increased, thereby solving the problem of how to improve the transportation efficiency when there are transport members with different driving modes in the transportation system in the related technology. Thus, the effect of improving the transportation efficiency is achieved.

[0239] The first control module 1304 is also used to control the movement of the first transport part corresponding to the associated moving object based on the motion state quantity of the first transport part corresponding to the target moving object when it is determined that the associated moving object is the first transport part that has not been selected as the target moving object, and the motion state quantity is determined according to the motion control parameters adopted by the target moving object.

[0240] The first control module 1304 is also used to control the movement of the first transport member corresponding to the associated moving object based on the distance state quantity of the first transport member corresponding to the target moving object, and the distance state quantity is determined according to the distance parameter in the motion control parameters; based on the speed state quantity of the first transport member corresponding to the target moving object, control the movement of the first transport member corresponding to the associated moving object, and the speed state quantity is determined according to the speed parameter in the motion control parameters.

[0241] The first control module 1306 is further configured to control the movement of the second transport member corresponding to the associated moving object based on the movement state signal of the first transport member corresponding to the target moving object when it is determined that the associated moving object is the second transport member.

[0242] The first control module 1306 is also used to control the second transport member corresponding to the associated motion object to move according to associated motion incremental information, wherein the associated motion incremental information is determined based on the target motion incremental information corresponding to the motion state signal, the driving mode of the second transport member corresponding to the associated motion object, and the driving mode of the first transport member corresponding to the target motion object; and control the second transport member corresponding to the associated motion object to move according to associated motion speed information, wherein the associated motion speed information is determined based on the target motion speed information corresponding to the motion state signal, the driving mode of the second transport member corresponding to the associated motion object, and the driving mode of the first transport member corresponding to the target motion object.

[0243] The device is also used to perform a spacing adjustment operation based on the setting of the linkage setting instruction when the actual spacing between the associated moving object and the target moving object does not meet the spacing condition. The spacing adjustment operation is used to adjust the movement of the first transport member selected as the target moving object or the associated moving object until the actual spacing meets the spacing condition, and the spacing condition is set based on the target spacing between the associated moving object and the target moving object.

[0244] The device is also used to perform an object adjustment operation according to an associated motion area based on the setting of the linkage setting instruction, and the object adjustment operation is used to adjust the target motion object and the associated motion object. The associated motion area is set based on the motion trajectory of the first transport member and the motion trajectory of the second transport member.

[0245] The second communication module 1302 is further used to receive the linkage setting instruction through the head first drive control module among the multiple first drive control modules, and circulate the linkage setting instruction among the multiple first drive control modules according to the connection relationship between the multiple first drive control modules.

[0246] The second communication module 1302 is further used to send first setting feedback information to the host computer, where the first setting feedback information is used to represent the setting result of each first drive control module based on the linkage setting instruction.

[0247] An embodiment of the present invention further provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to perform the following steps when executed:

[0248] S1: Acquire setting information, wherein the setting information is used to indicate object selection results of selecting a target moving object and an associated moving object from the plurality of transport objects, respectively, and the target moving object and the associated moving object have a binding relationship;

[0249] S2: Based on the setting information, generating a linkage setting instruction, wherein the linkage setting instruction includes: a first setting instruction, the first setting instruction is used to set the transport part selected as the associated moving object to move according to the moving condition of the transport part selected as the target moving object;

[0250] S3: Sending the linkage setting instruction to the lower computer, so that the lower computer controls the motion of the multiple transport members according to the linkage setting instruction.

[0251] In an optional embodiment, the computer program may also be configured to perform the following steps when running:

[0252] S1: receiving a linkage setting instruction from a host computer, wherein the linkage setting instruction is generated based on setting information, and the setting information is used to indicate an object selection result of selecting a target moving object and an associated moving object from the first transport member and the second transport member, and the target moving object and the associated moving object have a binding relationship;

[0253] S2: Based on the setting performed by the linkage setting instruction, when it is determined that there is a first transport member selected as the target moving object among the plurality of first transport members, based on the movement of the first transport member corresponding to the target moving object, the associated moving object having a binding relationship with the target moving object is controlled to move, wherein the associated moving object having a binding relationship includes at least one of the following: the first transport member not selected as the target moving object, and the second transport member;

[0254] S3: Based on the setting made by the linkage setting instruction, when it is determined that there is a first transport piece selected as the associated motion object among the multiple first transport pieces, based on the movement of the target motion object that has a binding relationship with the associated motion object, the first transport piece corresponding to the associated motion object is controlled to move, wherein the target motion object that has a binding relationship includes at least one of the following: the first transport piece that has not been selected as the associated motion object, and the second transport piece.

[0255] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0256] An embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0257] An embodiment of the present invention further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.

[0258] An embodiment of the present invention further provides another computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0259] An embodiment of the present invention also provides a computer program, which includes computer instructions, which 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 performs the steps in any one of the above-mentioned method embodiments.

[0260] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0261] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0262] The above description is only an optional embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling a moving object, characterized in that: The method is applied to a host computer, the host computer is connected to a transport system, the transport system includes a lower computer and a plurality of transport members, the driving mode of some of the transport members is different from the driving mode of the remaining transport members, the plurality of transport members include: at least one first transport member and at least one second transport member, the first transport member and the second transport member adopt different driving modes, and the first transport member is configured to pass through the second transport member during movement; the method includes: Acquiring setting information, wherein the setting information is used to indicate an object selection result of selecting at least one of the first transport members from the plurality of transport members as a target moving object, or selecting at least one of the first transport members from the plurality of transport members as an associated moving object, and the target moving object and the associated moving object have a binding relationship; Based on the setting information, a linkage setting instruction is generated, wherein the linkage setting instruction includes: a first setting instruction, used to set the transport member selected as the associated motion object to move according to the motion condition of the transport member selected as the target motion object; the linkage setting instruction also includes at least one of the following instructions: a second setting instruction, used to set a spacing adjustment operation to be performed when the actual spacing between the associated motion object and the target motion object does not meet the spacing condition, the spacing adjustment operation is used to adjust the motion condition of at least one of the associated motion object and the target motion object until the actual spacing meets the spacing condition, the spacing condition is set based on the target spacing between the associated motion object and the target motion object; a third setting instruction, used to set an object adjustment operation to be performed according to an associated motion area, the object adjustment operation is used to adjust the target motion object and the associated motion object, and the associated motion area is set based on the motion trajectories of the multiple transport members; The linkage setting instruction is sent to the lower computer, so that the lower computer controls the motion of the multiple transport members according to the linkage setting instruction.

2. The method for controlling a moving object according to claim 1, characterized in that: The number of the first transport members is multiple, and the transport member selected as the associated moving object moves according to the moving condition of the transport member selected as the target moving object, including: When the target moving object and the associated moving object are selected from the first transport member, the associated moving object is set to move according to the motion state quantity of the target moving object, and the motion state quantity is determined according to the motion control parameters corresponding to the first transport member selected as the target moving object.

3. The method for controlling a moving object according to claim 2, characterized in that: The step of setting the associated moving object to move according to the moving state of the target moving object includes at least one of the following: Setting the associated moving object to move according to the distance state quantity of the target moving object, wherein the distance state quantity is determined according to the distance parameter in the motion control parameter; The associated moving object is set to move according to a speed state quantity of the target moving object, and the speed state quantity is determined according to a speed parameter in the motion control parameter.

4. The method for controlling a moving object according to claim 1, characterized in that: The number of the second transport members is multiple, and the setting of the associated moving object to move according to the moving condition of the target moving object includes: When the target moving object is selected from the first transport member or the second transport member, and the associated moving object is selected from the second transport member, the associated moving object is set to move according to the motion state signal of the target moving object.

5. The method for controlling a moving object according to claim 4, characterized in that: The step of setting the associated moving object to move according to the moving state signal of the target moving object comprises at least one of the following: Setting the associated motion object to move according to associated motion increment information, wherein the associated motion increment information is determined based on target motion increment information corresponding to the motion state signal, a driving mode corresponding to the associated motion object, and a driving mode corresponding to the target motion object; The associated motion object is set to move according to associated motion speed information, wherein the associated motion speed information is determined based on target motion speed information corresponding to the motion state signal, a driving mode corresponding to the associated motion object, and a driving mode corresponding to the target motion object.

6. The method for controlling a moving object according to claim 1, characterized in that: The first transport member is driven by magnetic coupling, and the second transport member is driven by mechanical coupling.

7. The method for controlling a moving object according to claim 1, characterized in that: The lower computer includes a plurality of drive control modules, the plurality of drive control modules are electrically connected to each other, at least one drive control module among the plurality of drive control modules is used to control the first transport member, and at least one drive control module is used to control the second transport member; The step of sending the linkage setting instruction to the lower computer includes: The linkage setting instruction is sent to at least one drive control module corresponding to the target moving object and at least one drive control module corresponding to the associated moving object.

8. The method for controlling a moving object according to claim 7, characterized in that: The plurality of driving control modules include a plurality of first driving control modules, wherein the first driving control modules are used to control the first transport member; The multiple first drive control modules are connected in series; The step of sending the linkage setting instruction to the lower computer includes: The linkage setting instruction is sent to a head first driving control module among the plurality of first driving control modules, so that the linkage setting instruction is circulated according to the connection relationship between the plurality of first driving control modules.

9. The method for controlling a moving object according to claim 8, characterized in that: The method further comprises: Receive setting feedback information from the lower computer, wherein the setting feedback information includes first setting feedback information from a tail first drive control module among the plurality of first drive control modules, wherein the first setting feedback information is used to characterize the result of setting performed by each first drive control module based on the linkage setting instruction.

10. A method for controlling a moving object, characterized in that: Applied to a lower machine, the lower machine is electrically connected to a first transport device and a second transport device respectively, the first transport device includes a plurality of first transport members, the second transport device includes at least one second transport member, the first transport member and the second transport member adopt different driving modes, and the first transport member is configured to pass through the second transport member during movement, the method includes: receiving a linkage setting instruction from a host computer, wherein the linkage setting instruction is generated based on setting information, the setting information is used to indicate an object selection result of selecting at least one of the first transport member and the second transport member as a target moving object, or selecting at least one of the first transport member and the second transport member as an associated moving object, and the target moving object and the associated moving object have a binding relationship; Based on the setting made by the linkage setting instruction, when it is determined that there is a first transport member selected as the target moving object among the plurality of first transport members, based on the movement of the first transport member corresponding to the target moving object, the associated moving object having a binding relationship with the target moving object is controlled to move, wherein the associated moving object having a binding relationship includes at least one of the following: the first transport member not selected as the target moving object, and the second transport member; Based on the setting made by the linkage setting instruction, when it is determined that there is a first transport member selected as the associated motion object among the plurality of first transport members, based on the motion condition of the target motion object having a binding relationship with the associated motion object, the first transport member corresponding to the associated motion object is controlled to move, wherein the target motion object having a binding relationship includes at least one of the following: the first transport member not selected as the associated motion object, and the second transport member; Based on the setting of the linkage setting instruction, when the actual distance between the associated moving object and the target moving object does not meet the distance condition, a distance adjustment operation is performed, wherein the distance adjustment operation is used to adjust the movement of the first transport member selected as the target moving object or the associated moving object until the actual distance meets the distance condition, wherein the distance condition is set based on the target distance between the associated moving object and the target moving object; Based on the setting of the linkage setting instruction, an object adjustment operation is performed according to an associated motion area, wherein the object adjustment operation is used to adjust the target motion object and the associated motion object, and the associated motion area is set based on the motion trajectory of the first transport member and the motion trajectory of the second transport member.

11. The method for controlling a moving object according to claim 10, characterized in that: The controlling the associated moving object having a binding relationship with the target moving object to move based on the moving condition of the first transport member corresponding to the target moving object comprises: When it is determined that the associated moving object is the first transport member that has not been selected as the target moving object, the first transport member corresponding to the associated moving object is controlled to move based on the motion state quantity of the first transport member corresponding to the target moving object, and the motion state quantity is determined according to the motion control parameters adopted by the target moving object.

12. The method for controlling a moving object according to claim 11, characterized in that: The controlling the first transport member corresponding to the associated moving object to move based on the moving state quantity of the first transport member corresponding to the target moving object comprises at least one of the following: Based on the distance state quantity of the first transport member corresponding to the target moving object, controlling the first transport member corresponding to the associated moving object to move, the distance state quantity being determined according to the distance parameter in the motion control parameter; Based on the speed state quantity of the first transport member corresponding to the target moving object, the first transport member corresponding to the associated moving object is controlled to move, wherein the speed state quantity is determined according to the speed parameter in the motion control parameter.

13. The method for controlling a moving object according to claim 10, characterized in that: The controlling the associated moving object having a binding relationship with the target moving object to move based on the moving condition of the first transport member corresponding to the target moving object comprises: In the case where the associated moving object is determined to be a second transport member, the second transport member corresponding to the associated moving object is controlled to move based on the motion state signal of the first transport member corresponding to the target moving object.

14. The method for controlling a moving object according to claim 13, characterized in that: The controlling the second transport member corresponding to the associated moving object to move based on the motion state signal of the first transport member corresponding to the target moving object comprises at least one of the following: Controlling the second transport member corresponding to the associated motion object to move according to the associated motion increment information, wherein the associated motion increment information is determined based on the target motion increment information corresponding to the motion state signal, the driving mode of the second transport member corresponding to the associated motion object, and the driving mode of the first transport member corresponding to the target motion object; The second transport member corresponding to the associated moving object is controlled to move according to associated moving speed information, wherein the associated moving speed information is determined based on the target moving speed information corresponding to the moving state signal, the driving mode of the second transport member corresponding to the associated moving object, and the driving mode of the first transport member corresponding to the target moving object.

15. The method for controlling a moving object according to claim 10, characterized in that: The first transport member is driven by magnetic coupling, and the second transport member is driven by mechanical coupling.

16. The method for controlling a moving object according to claim 10, characterized in that: The lower computer includes a plurality of first drive control modules, and the first drive control modules are used to control the first transport member; The plurality of first drive control modules are connected in series; the receiving linkage setting instruction sent by the host computer comprises: The linkage setting instruction is received by a head first driving control module among the plurality of first driving control modules, and the linkage setting instruction is circulated among the plurality of first driving control modules according to the connection relationship between the plurality of first driving control modules.

17. The method for controlling a moving object according to claim 16, characterized in that: The method further comprises: Sending first setting feedback information to the host computer, where the first setting feedback information is used to represent the result of setting performed by each first drive control module based on the linkage setting instruction.

18. A control device for a moving object, characterized in that: As an upper computer, the control device of the moving object is connected to a transportation system, the transportation system includes a lower computer and a plurality of transportation members, the driving mode of some of the plurality of transportation members is different from the driving mode of the remaining transportation members, the plurality of transportation members include at least one first transportation member and at least one second transportation member, the first transportation member and the second transportation member adopt different driving modes, and the first transportation member is configured to pass through the second transportation member during movement; The control device of the moving object comprises: an acquisition module, used for acquiring setting information, wherein the setting information is used for indicating an object selection result of selecting at least one of the first transport members from a plurality of transport members as a target moving object, or selecting at least one of the first transport members from the plurality of transport members as an associated moving object, and the target moving object has a binding relationship with the associated moving object; An instruction generation module is used to generate a linkage setting instruction based on the setting information, wherein the linkage setting instruction includes: a first setting instruction, used to set the transport member selected as the associated motion object to move according to the motion condition of the transport member selected as the target motion object; the linkage setting instruction also includes at least one of the following instructions: a second setting instruction, used to set a spacing adjustment operation to be performed when the actual spacing between the associated motion object and the target motion object does not meet the spacing condition, the spacing adjustment operation is used to adjust the motion condition of at least one of the associated motion object and the target motion object until the actual spacing meets the spacing condition, the spacing condition is set based on the target spacing between the associated motion object and the target motion object; a third setting instruction, used to set an object adjustment operation to be performed according to an associated motion area, the object adjustment operation is used to adjust the target motion object and the associated motion object, and the associated motion area is set based on the motion trajectories of the multiple transport members; The first communication module is used to send the linkage setting instruction to the lower computer, so that the lower computer controls the motion of the multiple transport members according to the linkage setting instruction.

19. A control device for a moving object, characterized in that: As a lower machine, the control device of the moving object is electrically connected to a first transport device and a second transport device respectively, the first transport device includes a plurality of first transport members, the second transport device includes at least one second transport member, the first transport member and the second transport member adopt different driving modes, and the first transport member is configured to pass through the second transport member during movement; The control device of the moving object comprises: A second communication module is used to receive a linkage setting instruction from a host computer, wherein the linkage setting instruction is generated based on setting information, and the setting information is used to indicate an object selection result of selecting at least one of the first transport member and the second transport member as a target moving object, or selecting at least one of the first transport member and the second transport member as an associated moving object, and the target moving object and the associated moving object have a binding relationship; A first control module is used for controlling the associated moving objects in a binding relationship with the target moving object to move based on the setting made by the linkage setting instruction, when it is determined that there is a first moving object selected as the target moving object among the plurality of the first moving objects, based on the movement of the first moving object corresponding to the target moving object, wherein the associated moving objects in a binding relationship include at least one of the following: the first moving object not selected as the target moving object, and the second moving object; A second control module is used for controlling the first transport member corresponding to the associated motion object to move based on the setting made by the linkage setting instruction, when it is determined that there is a first transport member selected as the associated motion object among the plurality of the first transport members, based on the motion condition of the target motion object having a binding relationship with the associated motion object, wherein the target motion object having a binding relationship includes at least one of the following: the first transport member not selected as the associated motion object, and the second transport member; The control device of the moving object is further used to perform a spacing adjustment operation based on the setting of the linkage setting instruction, when the actual spacing between the associated moving object and the target moving object does not meet the spacing condition, and the spacing adjustment operation is used to adjust the movement of the first transport member selected as the target moving object or the associated moving object until the actual spacing meets the spacing condition, and the spacing condition is set based on the target spacing between the associated moving object and the target moving object; And / or, the control device of the moving object is also used to perform an object adjustment operation according to the associated motion area based on the setting of the linkage setting instruction, and the object adjustment operation is used to adjust the target moving object and the associated moving object, and the associated motion area is set based on the motion trajectory of the first transport member and the motion trajectory of the second transport member.

20. A transportation system, characterized in that: include: Upper computer, lower computer and multiple transport parts; Among the plurality of transport members, a driving mode of some transport members is different from a driving mode of the remaining transport members, each of the transport members is used to transport items, the plurality of transport members include at least one first transport member and at least one second transport member, the first transport member and the second transport member adopt different driving modes, and the first transport member is configured to pass through the second transport member during movement; The host computer is used to obtain setting information and generate a linkage setting instruction based on the setting information, wherein the setting information is used to indicate the object selection result of selecting at least one of the first transport parts from a plurality of transport parts as a target moving object, or selecting at least one of the first transport parts from the plurality of transport parts as an associated moving object, and the target moving object and the associated moving object have a binding relationship; The lower computer is used to receive the linkage setting instruction and make settings according to the linkage setting instruction to control the transport member selected as the associated motion object to move according to the motion status of the transport member selected as the target motion object, and to make at least one of the following settings according to the linkage setting instruction: when the actual distance between the associated motion object and the target motion object does not meet the distance condition, perform a distance adjustment operation, and the distance adjustment operation is used to adjust the motion status of the first transport member selected as the target motion object or the associated motion object until the actual distance meets the distance condition, and the distance condition is set based on the target distance between the associated motion object and the target motion object; perform an object adjustment operation according to the associated motion area, and the object adjustment operation is used to adjust the target motion object and the associated motion object, and the associated motion area is set based on the motion trajectory of the first transport member and the motion trajectory of the second transport member.

21. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 9 or the steps of the method described in any one of claims 10 to 17 are implemented.

22. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the processor implements the steps of the method described in any one of claims 1 to 9 or the steps of the method described in any one of claims 10 to 17.

23. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 9 or the steps of the method described in any one of claims 10 to 17 are implemented.

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