Method and device for controlling the delivery, linear motor, automated production system

Abstract

The application discloses a conveying control method and device, a linear motor and an automatic production system. The method is applied to a conveying device, the conveying device comprises a track assembly and a plurality of moving assemblies, each moving assembly is movably connected with the track assembly, and each moving assembly is suitable for independent driving. The method comprises the following steps: position monitoring is performed on the plurality of moving assemblies; a moving assembly associated with an operation point is determined from the plurality of moving assemblies, and the associated moving assembly is obtained; and position measurement information of the associated moving assembly is sent to an operation device, wherein the operation device is used for performing a processing operation related to the associated moving assembly based on the position measurement information, and the operation point is set according to the operation device. The application can effectively improve production efficiency.

Description

Technical Field

[0001] This application relates to the field of industrial conveying technology, and more specifically, to a conveying control method and device, a linear motor, and an automated production system. Background Technology

[0002] Currently, in automated production scenarios, transport equipment with mechanical transmission mechanisms (such as belt conveyors, chain conveyors, etc.) is typically used for transporting objects, and processing operations are performed through operating equipment.

[0003] However, when there are a large number of items, there may be technical problems such as operational errors of the equipment affecting the conveying efficiency, resulting in low production efficiency.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a conveying control method and device, a linear motor, and an automated production system to at least solve the technical problem of low production efficiency in related technologies.

[0006] According to one aspect of the embodiments of this application, a conveying control method is provided, applied to a transport device. The transport device includes a track assembly and multiple moving components, each moving component being movably connected to the track assembly and adapted to be driven independently. The method includes: monitoring the position of the multiple moving components; determining a moving component associated with an operation point from the multiple moving components to obtain an associated moving component; and sending the position measurement information of the associated moving component to an operating device, wherein the operating device is used to perform processing operations related to the associated moving component based on the position measurement information, and the operation point is set according to the operating device.

[0007] According to another aspect of the embodiments of this application, a conveying control device is also provided, connected to a transport device. The transport device includes a track assembly and a moving assembly. The track assembly is used to drive the moving assembly via magnetic coupling, and the moving assembly is used to move along the track assembly. The device includes: a monitoring unit for monitoring the position of multiple moving assemblies; a determining unit for determining the moving assembly associated with an operation point from among the multiple moving assemblies to obtain the associated moving assembly; and a sending unit for sending the position measurement information of the associated moving assembly to an operating device. The operating device is used to perform processing operations related to the associated moving assembly based on the position measurement information, and the operation point is set according to the operating device.

[0008] According to another aspect of the embodiments of this application, a linear motor is also provided, including: a track assembly and a plurality of moving components, wherein each moving component is movably connected to the track assembly and each moving component is adapted to be driven independently; a position monitoring device is used to monitor the position of the plurality of moving components, determine the associated moving component associated with the operation point from the plurality of moving components, and send the position monitoring information of the associated moving component to the operation device, wherein the operation device is used to perform processing operations related to the associated moving component based on the position monitoring information.

[0009] According to another aspect of the embodiments of this application, an automated production system is also provided, including: a linear motor, the linear motor including a track assembly and a plurality of moving components, each moving component being movably connected to the track assembly and each moving component being adapted to be driven independently; a linear motor control device, used to control the track assembly to drive the moving components through magnetic coupling, and to monitor the position of the plurality of moving components, and to send the position monitoring information of the associated moving component determined to be associated with the operation point to the operation device; and an operation device, used to perform related processing operations on the associated moving component based on the received position monitoring information.

[0010] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, on which a program is stored, which, when executed by a processor, implements the transport control method disclosed in this application.

[0011] The conveying control method provided in this application monitors the positions of multiple moving components and then sends the position measurement information of the associated moving components among the multiple moving components that are associated with the operation point to the operating device. This allows the operating device to perform processing operations related to the associated moving components in a timely and orderly manner based on the received position measurement information, thereby improving the coordination between the operating device and the moving components. This not only reduces the operation error rate of the operating device but also improves the processing efficiency of the operating device, thus achieving the technical effect of improving production efficiency. Attached Figure Description

[0012] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0013] Figure 1 This is a schematic diagram of the flow of an optional transport control method according to an embodiment of this application;

[0014] Figure 2 This is a schematic diagram of the operating environment of an optional conveying control method according to an embodiment of this application;

[0015] Figure 3This is a schematic diagram of an optional conveying control method according to an embodiment of this application;

[0016] Figure 4 This is a schematic diagram of an optional conveying control method according to an embodiment of this application;

[0017] Figure 5 This is a schematic diagram of an optional conveying control method according to an embodiment of this application;

[0018] Figure 6 This is a schematic diagram of an optional conveying control method according to an embodiment of this application;

[0019] Figure 7 This is a schematic diagram of an optional conveying control method according to an embodiment of this application;

[0020] Figure 8 This is a schematic diagram of an optional conveying control method according to an embodiment of this application;

[0021] Figure 9 This is a schematic diagram of an optional conveying control method according to an embodiment of this application;

[0022] Figure 10 This is a schematic diagram of an optional conveying control method according to an embodiment of this application;

[0023] Figure 11 This is a schematic diagram of an optional conveying control method according to an embodiment of this application;

[0024] Figure 12 This is a schematic diagram of an optional conveying control device according to an embodiment of this application;

[0025] Figure 13 A schematic diagram of an optional conveying control device according to an embodiment of this application. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] According to one aspect of the embodiments of this application, a conveying control method is provided, applied to a transport device. The transport device includes a track assembly and multiple moving components, each moving component being movably connected to the track assembly and adapted to be driven independently. As an optional implementation, such as Figure 1 As shown, the specific steps of the method may include:

[0029] S102, position monitoring of multiple moving components;

[0030] S104, determine the moving component associated with the operation point from multiple moving components, and obtain the associated moving component;

[0031] S106, the position measurement information of the associated moving component is sent to the operating device, wherein the operating device is used to perform processing operations related to the associated moving component based on the position measurement information, and the operating point is set according to the operating device.

[0032] It should be noted that the conveying control method disclosed in this application can be applied, but is not limited to, in automated production scenarios to control transport equipment. The transport equipment includes a track assembly and multiple moving components, each moving component being movably connected to the track assembly and each moving component being suitable for independent drive.

[0033] To further illustrate, taking a linear motor as an example of a transportation device, the conveying control method disclosed in this application will be explained. The track assembly and moving assembly disclosed in this application may be referenced, but are not limited to, those described above. Figure 2 As shown, the track assembly 202 includes an excitation component ( Figure 2 (Not shown in the image), the moving component 206 includes a magnetic component ( Figure 2(Not shown in the diagram), the track assembly 202 and the moving assembly 206 are fitted with a gap. By controlling the change in the magnetic field of the excitation component, the magnetic field interaction between the excitation component and the magnetic component generates a thrust, driving the moving assembly to move relative to the track assembly 202. During this process, because the track assembly 202 and the moving assembly 206 are fitted with a gap, the frictional force experienced by the moving assembly 206 relative to the track assembly 202 is relatively small, thus enabling faster movement. The excitation component can be understood as a component based on coils, such as an armature winding, and the magnetic component can be understood as a component that possesses a magnetic field, such as a permanent magnet.

[0034] It is understood that the examples disclosed in this application are optional examples provided to illustrate the conveying control method disclosed in this application. The conveying control method disclosed in this application can also be applied to, but is not limited to, transport equipment that uses other driving methods to control moving components, such as pressure drive (specifically, hydraulic drive, pneumatic drive), rotary motor drive, etc. The embodiments of this application do not specifically limit the driving method used by the transport equipment.

[0035] It is also understood that the shape formed by the track component extending along the moving direction of the moving component can be a straight line, an arc, or a combination of both. Furthermore, the shape formed by the track component extending along the moving direction of the moving component can be a closed shape (such as a circle, a racetrack shape, or a square-round shape) or an open shape (such as a straight line, a C-shape, an S-shape, or a U-shape). For ease of understanding, the examples disclosed in this application are all described using straight line segments of the track component; other shapes of track component segments can be deduced by analogy from the examples disclosed in this application.

[0036] In some embodiments, position monitoring of multiple moving components can be understood as measuring and monitoring the positions of the moving components. Specifically, position monitoring may include identifying whether a moving component is associated with an operating point. In practical applications, the number of moving components in a transportation device can be one or more; when there is only one moving component, position monitoring determines whether that moving component is an associated moving component; when there are multiple moving components, position monitoring determines from among the multiple moving components whether a moving component is an associated moving component. Thus, the associated moving components are obtained.

[0037] Optionally, in step S102 disclosed in this application, position monitoring of multiple moving components may include, but is not limited to, at least one of the following position monitoring methods:

[0038] (1) The position of each moving component is measured by the position measurement module to obtain position measurement information, and position monitoring is performed based on the position measurement information of each moving component, such as identifying whether there is a moving component associated with the operation point. The position measurement module can be a module contained in the transportation equipment itself, or the position measurement module can be a module set independently of the transportation equipment.

[0039] (2) Configure a separate position trigger module for each operation point, and use the position trigger module to monitor the position of each moving component. For example, when a moving component arrives at the position trigger module, the position trigger module is triggered and indicates to the transport equipment that the moving component associated with the operation point has been identified.

[0040] It is understood that the position measurement module can be, but is not limited to, various modules capable of measuring position, such as modules that measure position through one or more combinations of optical, electrical, and magnetic methods. For example, the position measurement device may include one or more combinations of resistive sensors, capacitive sensors, inductive sensors, laser sensors, photoelectric sensors, magnetic sensors, encoders, image sensors, and ultrasonic sensors, and this application embodiment does not impose any limitations on this.

[0041] It is also understood that the position triggering module can be, but is not limited to, various modules that can be triggered, such as modules that can set the triggering method through one or more combinations of optical, electrical, and magnetic means. For example, the position triggering module may include one or more combinations of laser sensors, photoelectric sensors, magnetic sensors, encoders, and ultrasonic sensors, and this application embodiment does not impose any limitations on this.

[0042] Therefore, the position measurement module can accurately measure the actual position of each moving component, improving the real-time performance of position measurement, while the position triggering module can respond faster, thereby improving the identification efficiency of associated moving components.

[0043] Optionally, in some embodiments, in step S104 disclosed in this application, the operation points can be set according to the operating device, but are not limited to those set according to the operating device, and one or more operation points can be set according to the actual operating steps of the operating device. The operation points can be distributed based on the track components, but are not limited to those distributed based on the track components. Optionally, according to the actual operating steps of the operating device, the operation points can be set by coordinates in a coordinate system formed by the track components. The operation points can also be distributed and set in other ways, but are not limited to these methods in the embodiments disclosed in this application.

[0044] It should be noted that the operation points in this application embodiment are not physical points deployed in the actual scene, but virtual points set by a computer program to guide the movement of the mobile component and describe the location of the mobile component.

[0045] It is understandable that associated motion components are used to indicate motion components related to the operating device, that is, motion components that need to cooperate with the operating device. When the operating device performs a processing operation, the associated motion components work in conjunction with the operating device.

[0046] For example, a transportation device includes a track assembly, a moving component A, and a moving component B. Moving components A and B are movably connected to the track assembly and are suitable for independent operation. Position monitoring is performed on moving components A and B. When moving component A is detected to be associated with an operating point, its position measurement information is sent to the operating device for use in executing processing operations related to moving component A. Similarly, when moving component B is detected to be associated with an operating point, its position measurement information is sent to the operating device for use in executing processing operations related to moving component B.

[0047] Understandably, by setting operation points according to the operating equipment, the moving components associated with the operation points are identified as those that need to cooperate with the operating equipment. The position measurement information of the moving components associated with the operation points is sent to the operating equipment to ensure that the operating equipment can monitor the movement of the moving components associated with the operation points in real time. This allows the operating equipment to coordinate with the moving components associated with the operation points when performing processing operations, improving the accuracy of their cooperation, thereby improving the quality of operation and ensuring the quality of production.

[0048] It is also understood that the operating equipment may be, but is not limited to, equipment for performing processing operations. These processing operations may include one or more combinations of loading operations, process operations, and unloading operations. Process operations may include one or more combinations of cutting processes, welding processes, assembly processes, and inspection processes. For example, the operating equipment may be assembly equipment, inspection equipment, handling equipment, etc. This application does not impose any limitations on this aspect.

[0049] Optionally, in one embodiment, if position monitoring is performed using a position measurement module, the position measurement information obtained by the position measurement module can be sent to the operating device; if position monitoring is performed using a position trigger module, the coordinate information of the operating point corresponding to the preset position trigger module can be used, or a separate position measurement module can be provided to obtain the position measurement information of the associated moving component after the position trigger module is triggered, and send it to the operating device. This embodiment does not impose any limitations on this aspect.

[0050] Through the embodiments provided in this application, by monitoring the positions of multiple moving components, the position measurement information of the associated moving components among the multiple moving components and related to the operation point is sent to the operating device. This enables the operating device to perform processing operations related to the associated moving components in a timely and orderly manner based on the received position measurement information, thereby improving the coordination between the operating device and the moving components. This not only reduces the operation error rate of the operating device but also improves the processing efficiency of the operating device, thereby achieving the technical effect of improving production efficiency.

[0051] As an optional approach, the associated mobile component is determined from multiple mobile components to obtain the associated mobile component, including:

[0052] Based on the positional relationship between multiple moving components and the operation point, the moving components whose positional relationship with the operation point meets the association establishment conditions are determined from the multiple moving components, and an association relationship is established with the operation point to obtain the associated moving components.

[0053] The embodiments provided in this application utilize the positional relationship between multiple mobile components and the operation point to determine the associated mobile component whose positional relationship with the operation point meets the association establishment conditions. Then, the position measurement information of the associated mobile component is sent to the operation device, so that the operation device can perform processing operations related to the associated mobile component in a timely and orderly manner based on the received position measurement information, thereby improving the coordination between the operation device and the mobile component.

[0054] As an optional approach, based on the positional relationship between multiple moving components and the operation point, the moving components whose positional relationship with the operation point meets the association establishment conditions are determined from among the multiple moving components, including:

[0055] Identify the mobile component that arrives at the operation point from among multiple mobile components, and establish an association relationship with the operation point to obtain the associated mobile component.

[0056] To further illustrate, if the moving component whose positional relationship with the operation point meets the association establishment conditions is the moving component that arrives at the operation point, such as... Figure 3 As shown, operation points 302 are distributed on track assembly 304. Moving component 306 is at a position along track assembly 304 that is moving towards operation point 302 but has not yet arrived at operation point 302. It can be determined that the positional relationship between moving component 306 and operation point 302 does not meet the association establishment conditions. Moving component 308 is at a position along track assembly 304 that has arrived at operation point 302. It can be determined that the positional relationship between moving component 308 and operation point 302 meets the association establishment conditions, and an association relationship is established between moving component 308 and operation point 302. Moving component 308 is determined to be an associated moving component.

[0057] It should be noted that reaching the operation point can be understood as the reference point of the moving component (such as the head or center point of the moving component) coinciding with the operation point.

[0058] Optionally, in some embodiments, but not limited to, position measurements of multiple moving components can be performed using a first position measurement module to detect whether the multiple moving components have arrived at the operation point. The first position measurement module may include, but is not limited to, an absolute position measurement module (specifically, an absolute position encoder). The absolute position measurement module can measure the positions of the multiple moving components and generate absolute position measurement information. This absolute position measurement information of the moving components can be used to characterize the absolute position of the moving components. Based on the absolute position measurement information of the multiple moving components, the moving component that has arrived at the operation point is determined, and an association is established with the operation point to obtain the associated moving component. The absolute position measurement information of the associated moving component is then sent to the operation device. The operation device can directly determine the actual position of the associated moving component based on the received absolute position measurement information, thereby performing processing operations related to the associated moving component and realizing linkage with the associated moving component.

[0059] Optionally, in some embodiments, but not limited to, position measurements of multiple moving components can be performed using a second position measurement module to detect whether the multiple moving components have arrived at the operation point. The second position measurement module may include, but is not limited to, a relative position measurement module (specifically, an incremental position encoder), capable of measuring the positions of the multiple moving components and generating relative position measurement information. This relative position measurement information can be used to characterize the position changes of the moving components from the start to the end of a measurement cycle in the second position measurement module, i.e., the displacement of the moving components within one measurement cycle of the second position measurement module. By accumulating the relative position measurement information of each moving component, the absolute position measurement information of each moving component can be obtained, thereby identifying the moving component that has arrived at the operation point and establishing an association with the operation point, thus obtaining the associated moving component.

[0060] Understandably, for relative position measurement information, the relative position measurement information of the associated moving component can be sent to the operating device. The operating device can accumulate the received relative position measurement information to determine the first relative movement distance of the associated moving component relative to the operating point after it arrives at the associated operating point, thereby executing processing operations related to the associated moving component and realizing linkage with the associated moving component. Alternatively, the relative position measurement information obtained from the associated moving component at different time periods can be accumulated to obtain absolute position measurement information, which can then be sent to the operating device. This allows the operating device to determine the actual position of the moving component, thereby executing processing operations related to the associated moving component and realizing linkage with the associated moving component.

[0061] In practical applications, after a moving component is associated with an operating point, its position measurement information can be obtained by reading the storage area corresponding to that associated moving component. This position measurement information is then sent to the operating device via an output interface. Both acquiring the position measurement information and selecting the output interface consume processing time. Therefore, there is a certain transmission delay between the association of the moving component with the operating point and the transmission of its position measurement information to the operating device. This transmission delay may cause the operating device to receive the position measurement information late, resulting in the operating device's operation process lagging behind the movement of the associated moving component, increasing the risk of operation failure.

[0062] As an alternative approach, when a mobile component is associated with an operation point, the waiting time of the associated mobile component can be controlled according to the duration of the transmission delay. This ensures that the position of the associated mobile component has not changed when the acquisition of the position measurement information of the associated mobile component and the selection of the output interface are completed. This avoids the operation process of the operating device lagging behind the movement of the associated mobile component due to the information transmission delay, thereby reducing the risk of operation failure.

[0063] As an alternative approach, based on the positional relationships between multiple moving components and the operation point, determining the moving components whose positional relationships with the operation point meet the association establishment conditions from among the multiple moving components may include:

[0064] From multiple moving components, identify the moving component that is moving toward the operation point and whose positional distance from the operation point meets the first distance condition, and establish an association relationship with the operation point to obtain the associated moving component.

[0065] The first spacing condition may be determined based on a first spacing threshold. Meeting the first spacing condition may be used to indicate less than the first spacing threshold, or may be used to indicate equal to the first spacing threshold, or may be used to indicate less than or equal to the first spacing threshold.

[0066] Therefore, when the positional distance between the moving component and the operating point meets the first distance condition, it can be associated with the positional point in advance, thereby sending positional measurement information to the operating device in advance. When the moving component moves to the operating point, its positional measurement information has been continuously sent to the operating device, thus avoiding the problem of information transmission delay and reducing the risk of operation failure.

[0067] It is understandable that if a mobile component whose positional relationship with the operation point meets the association establishment conditions is a mobile component that is moving towards the operation point and whose positional distance from the operation point meets the first distance condition, the position measurement information is sent to the operation device in advance. When the mobile component moves to the operation point, its position measurement information has been continuously sent to the operation device, thus avoiding the problem of transmission delay.

[0068] For example, such as Figure 4 As shown, the operation point 402 is set on the track assembly 404. The moving component 406 is located along the track assembly 404, heading towards the operation point 402, but the positional distance between it and the operation point 402 does not meet the first distance condition. It can be determined that the positional relationship between the moving component 406 and the operation point does not meet the association establishment condition. The moving component 408 is located along the track assembly 404, heading towards the operation point 402, and the positional distance between it and the operation point 402 meets the first distance condition. It can be determined that the positional relationship between the moving component 408 and the operation point meets the association establishment condition, and the association relationship between the moving component 408 and the operation point 402 is established, and the moving component 408 is determined to be an associated moving component.

[0069] As an optional approach, after determining the mobile components whose positional relationship with the operation point meets the association establishment conditions from among the multiple mobile components based on the positional relationship between the multiple mobile components and the operation point, the method further includes at least one of the following:

[0070] Based on the positional relationship between multiple moving components and the operation point, disconnect the operation point from the associated moving components;

[0071] Based on the positional relationship between multiple moving components and the operation point, switch the association between the operation point and multiple moving components.

[0072] Optionally, in some embodiments, after determining the mobile components whose positional relationship with the operation point meets the association establishment conditions from multiple mobile components and establishing an association relationship with the operation point to obtain the associated mobile components, the positional relationship between the associated mobile components and the operation point is monitored. Specifically, if the positional relationship between the associated mobile components and the operation point meets the association removal conditions, the association relationship between the operation point and the associated mobile components is removed; if the positional relationship between the associated mobile components and the operation point meets the association switching conditions, the association relationship between the operation point and the associated mobile components is switched.

[0073] Optionally, in some embodiments, the association release condition may include, but is not limited to, one of the following:

[0074] The associated moving component moves out of the operation point, and the positional distance between it and the operation point meets the second distance condition;

[0075] An association is established between the operation point and the next moving component of the associated moving component. The next moving component of the associated moving component is the moving component that is closest to the associated moving component and whose positional distance from the operation point is greater than the positional distance between the associated moving component and the operation point when the associated moving component has not reached the operation point.

[0076] The associated mobile component establishes a relationship with the next operation point.

[0077] It should be noted that the next moving component after the associated moving component is the moving component on the track component that is closest to the associated moving component among the moving components that were not yet associated with the operation point when the association was established. Similarly, the previous moving component of the associated moving component is the moving component on the track component that was already associated with the operation point when the association was established, and is closest to the associated moving component.

[0078] It should also be noted that the next operation point is the operation point closest to the operation point where the association between the associated mobile components has been established, even if no association has been established yet. Similarly, the previous operation point is the operation point closest to the operation point where the association between the associated mobile components has been established, even if no association has been established yet.

[0079] Optionally, in some embodiments, the associated switching conditions may include, but are not limited to, one of the following:

[0080] Among multiple moving components, there exist other moving components whose positional relationships with the operation point meet the conditions for establishing an association;

[0081] The positional relationship between the associated mobile component and other operation points among multiple operation points meets the association establishment conditions; wherein, the other mobile components are operation points among multiple operation points set according to the operating device that have not yet established an association relationship with the associated mobile component.

[0082] It should be noted that after the association between the moving component and the operating point is established, the moving component can continue to move until the association is broken. During the movement of the moving component, if the position measurement information of the associated moving component is obtained, the position measurement information can be sent to the operating device. It can be understood that the position measurement information of the associated moving component can be continuously sent to the operating device until the association is broken.

[0083] Optionally, in some embodiments, the second spacing condition may be determined based on a second spacing threshold. Meeting the second spacing condition may be used to indicate that it is greater than the second spacing threshold, or it may be used to indicate that it is equal to the second spacing threshold, or it may be used to indicate that it is greater than or equal to the second spacing threshold.

[0084] To illustrate further, such as Figure 5 As shown, operation point 502 is set on track assembly 504. Associated moving component 506 (which has established an association with operation point 502) is located along track assembly 504 at a position where it has left operation point 502 but the positional distance between it and operation point 402 does not meet the second distance condition. It can be determined that the positional relationship between associated moving component 506 and operation point 502 does not meet the association release condition. Associated moving component 508 (which has established an association with operation point 502) is located along track assembly 504 at a position where it is moving towards operation point 502 and the positional distance between it and operation point 502 meets the second distance condition. It can be determined that the positional relationship between associated moving component 508 and operation point 502 meets the association release condition, and the association between associated moving component 508 and operation point 502 is released.

[0085] Through the embodiments provided in this application, by associating the positional relationship between the moving component and the operating point, the associated moving component that meets the association release condition can be promptly de-associated, thereby allowing for flexible setting of the cooperation process between the operating device and the moving component (such as cooperation duration, cooperation distance, etc.) according to the working condition requirements, thus improving the flexibility of cooperation between the operating device and the moving component.

[0086] It should be noted that, in order to improve the accuracy of position monitoring of mobile components and reduce the amount of data, each mobile component is associated with one operation point. In other words, for any one of multiple mobile components, it is only possible to establish an association with one operation point at the same time.

[0087] It should also be noted that when multiple operation points are set, if the mobile component has already established an association with one operation point, it must disassociate itself from the associated operation point before it can establish an association with another operation point whose positional relationship meets the association establishment conditions, based on its positional relationship with the other operation points. The association establishment conditions for different operation points can be set to be the same or different.

[0088] As an optional approach, the association between the operation point and the multiple moving components can be switched based on their positional relationships, including:

[0089] If it is detected that there are other mobile components among multiple mobile components whose positional relationship with the operation point meets the association establishment conditions, switch the mobile component associated with the operation point.

[0090] If the positional relationship between the associated mobile component and other operation points among multiple operation points is detected to meet the association establishment conditions, the operation point associated with the associated mobile component is switched.

[0091] Optionally, in some embodiments, the other moving components are operation points among a plurality of operation points set according to the operating device that have not yet established an association relationship with the associated moving component. The other moving components are the moving components that are closest to the associated moving component and whose positional distance from the operation point is greater than the positional distance between the associated moving component and the operation point when the associated moving component has not arrived at the operation point.

[0092] Optionally, in some embodiments, if there are other mobile components among the multiple mobile components whose positional relationship with the operation point meets the association establishment conditions, the mobile component associated with the operation point is switched, wherein meeting the association establishment conditions is used to indicate that other mobile components arrive at the operation point or that the positional distance between other mobile components and the operation point meets the first distance condition.

[0093] To illustrate further, such as Figure 6 As shown, operation point 602 is set on track assembly 604. Track assembly 604 has multiple moving components, including associated moving component 606 that has already established an association with operation point 602 and other moving components 608 that have not established an association with operation point 602. When it is detected that the positional relationship between other moving component 608 and operation point 602 meets the association establishment conditions, the moving component associated with operation point 602 is switched from associated moving component 606 to other moving component 608.

[0094] Optionally, in some embodiments, when the associated moving component moves out of the operation point and the positional relationship between it and other operation points meets the association establishment conditions, the operation point associated with the associated moving component is switched. The other moving components are operation points among the multiple operation points set according to the operation device that have not yet established an association relationship with the associated moving component. They may be, but are not limited to, moving components set along the track component that have not yet established an association relationship with the operation point when the association relationship is established, and whose positional distance with the associated moving group meets the third distance condition. The third distance condition may be consistent with the first distance condition or may not be consistent with it.

[0095] To illustrate further, such as Figure 7As shown, operation points 702 and 704 are set on track assembly 706, where operation point 704 is the next operation point after operation point 702. Track assembly 706 has an associated moving component 708 that has already established an association with operation point 702. During the process of associated moving component 708 moving from operation point 702 to operation point 704, if the positional relationship between associated moving component 708 and operation point 704 meets the association establishment conditions, the operation point associated with associated moving component 708 is switched from operation point 702 to operation point 704.

[0096] In practical applications, when switching associated mobile components at an operation point, the corresponding storage area read changes, thus requiring the acquisition of the position measurement information of the switched associated mobile component. Furthermore, the output interface for sending this position measurement information may also change. Therefore, a certain processing time is required between switching the associated mobile component at the operation point and sending the position measurement information to the operating device, resulting in a switching delay. This delay may cause the operating device to receive the position measurement information of the switched associated mobile component later than it does, causing the operating device's process to lag behind the movement of the switched associated mobile component, increasing the risk of operation failure.

[0097] As an alternative approach, when a mobile component is associated with an operation point, the waiting time of the operating device can be controlled according to the duration of the transmission delay to ensure the completion of the switching of the associated mobile component and the switching of the output of the position measurement information. This avoids the operation process of the operating device lagging behind the movement of the associated mobile component after the switching due to the switching delay, and reduces the risk of operation failure.

[0098] As an optional approach, before sending the position measurement information of the associated moving component to the operating device, the following steps are also included:

[0099] When the position measurement information indicates the relative position of the associated moving component, the position measurement information is corrected.

[0100] Optionally, in some embodiments, when the operating device processes the associated moving component in conjunction with the associated moving component based on the relative position measurement information of the associated moving component, after determining from multiple moving components that the moving component is heading towards the operating point and the positional distance between it and the operating point meets the first distance condition, and establishing an association relationship with the operating point, the relative position measurement information of the associated moving component can be accumulated to determine the second relative movement distance of the associated moving component after the associated operating point, and the accumulated relative position measurement information of the associated moving component can be sent to the operating device so that the operating device can perform processing operations related to the associated moving component. Alternatively, all relative position measurement information measured by the associated moving component at different time periods can be obtained and accumulated to obtain absolute position measurement information, and the absolute position measurement information of the associated moving component can be sent to the operating device so that the operating device can determine the actual position of the moving component.

[0101] In the case where the relative position measurement information of the moving component is accumulated after being associated with the operation point, and the accumulated relative position measurement information of the associated moving component is sent to the operating device, the relative position measurement information of the associated moving component is accumulated and sent to the operating device in advance before the associated moving component actually arrives at the operation point. This causes the operating device to mistakenly believe that the moving component has arrived at the operation point, resulting in the operating device's operation process being ahead of the movement of the associated moving component, increasing the risk of operation failure.

[0102] The displacement deviation is related to the first spacing threshold of the first spacing condition.

[0103] To illustrate further, such as Figure 8 As shown, the distance between the moving component 802 at position S1 and the operation point 804 (black dot) is the positional distance difference between position S2 and position S1, which meets the first distance condition. Therefore, the moving component 802 is associated with the operation point 804 at position S1, and the relative position measurement information of the associated moving component 802 is accumulated. The accumulated result of the relative position measurement information of the associated moving component 802 can be sent to the operating device. When the associated moving component 802 reaches the operation point 804 at position S2, for the operating device, the moving component 802 has moved relative to the positional distance difference between position S2 and position S1, thus completing the operation steps that should be performed at the operation point 804 ahead of schedule.

[0104] To avoid operational risks caused by prematurely accumulating relative position measurement information and sending it to the operating device, the accumulation results of relative position measurement information of associated moving components can be corrected.

[0105] As an optional method, error correction processing is performed on the location measurement information, including:

[0106] When it is determined that the associated moving component has arrived at the operation point, a displacement deviation compensation operation or a zeroing operation is performed on the cumulative result of the relative position measurement information of the associated moving component. The displacement deviation used in the displacement deviation compensation operation is determined based on the distance between the associated moving component and the operation point from the establishment of the association between the associated moving component and the operation point to the arrival of the associated moving component at the operation point.

[0107] Optionally, in some embodiments, when it is determined that the associated moving component has arrived at the operating point, a displacement deviation compensation operation is performed on the accumulated result of the relative position measurement information of the associated moving component. The displacement deviation compensation operation is used to instruct the accumulated result of the relative position measurement information to be corrected by displacement deviation. The displacement deviation is determined based on the distance between the establishment of the association between the associated moving component and the operating point and the arrival of the associated moving component at the operating point. It may, but is not limited to, using a first distance threshold indicated by a first distance condition as the displacement deviation. Then, the accumulated result of the relative position measurement information after displacement deviation compensation can be sent to the operating device.

[0108] Understandably, when it is determined that the associated moving component has arrived at the operating point, a second relative movement distance, determined by accumulating the relative position measurement information of the associated moving component, is acquired. The displacement deviation is then subtracted from this second relative movement distance to obtain the actual relative movement distance of the associated moving component relative to the operating point. This second relative movement distance, after displacement deviation compensation, is then sent to the operating device as the result of accumulating the relative position measurement information of the associated moving component. It is also understood that, depending on the direction of movement of the associated moving component and its position relative to the operating point, the result of subtracting the displacement deviation from the second relative movement distance can be negative, zero, or positive. Furthermore, this result can characterize different positional relationships of the associated moving component, such as moving towards, arriving at, or leaving the operating point.

[0109] Optionally, in some embodiments, when it is determined that the associated mobile component has arrived at the operation point, a zeroing operation is performed on the cumulative result of the relative position measurement information of the associated mobile component. The cumulative result is then based on the latest relative position measurement information of the associated mobile component obtained after zeroing (i.e., the relative position measurement information received after the mobile component arrives at the operation point), and the cumulative result of the relative position measurement information obtained after zeroing is sent to the operation device.

[0110] Understandably, the correction process only needs to be performed once, rather than every time relative position measurement information is obtained. The operation is simple and the computational requirements are low.

[0111] Through the embodiments provided in this application, the accumulated results of relative position measurement information of associated moving components are corrected by different strategies, which enables the operating device to obtain accurate accumulated results of relative position measurement information, thereby executing the processing operations related to the associated moving components more accurately and improving the accuracy of transport control.

[0112] Optionally, in some embodiments, when the operating device cooperates with the associated moving component based on the relative position measurement information of the associated moving component, after determining from multiple moving components that the moving component is heading towards the operating point and the positional distance between it and the operating point meets the first distance condition, and establishing an association relationship with the operating point, the relative position measurement information of the associated moving component can be sent to the operating device so that the operating device can accumulate the received relative position measurement information, determine the second relative movement distance of the associated moving component after the associated operating point, and enable the operating device to perform processing operations related to the associated moving component.

[0113] In the case where a moving component sends its relative position measurement information to the operating device after being associated with an operation point, the operating device receives the relative position measurement information of the associated moving component before the associated moving component actually arrives at the operation point. This leads the operating device to mistakenly believe that the moving component has arrived at the operation point, causing the operating device's operation process to precede the movement of the associated moving component, increasing the risk of operation failure.

[0114] As an optional approach, after determining the mobile component associated with the operation point from multiple mobile components and obtaining the associated mobile component, the method further includes:

[0115] Once it is determined that the associated moving component has arrived at the operating point, a zeroing command is sent to the operating device to instruct the operating device to zero the received relative position measurement information of the associated moving component.

[0116] Optionally, in some embodiments, when it is determined that the associated moving component has arrived at the operation point, a zeroing command is sent to the operation device to instruct the operation device to zero the received relative position measurement information of the associated moving component. After zeroing, the operation device accumulates the relative position measurement information of the associated moving component (i.e., the relative position measurement information of the associated moving component received after the associated moving component arrives at the operation point) to perform corresponding processing operations.

[0117] The embodiments provided in this application enable the operation device to be instructed to correct the relative position measurement information of the associated moving component by sending a cleanup command to the operation device when the associated moving component arrives at the operation point, thereby ensuring that the operation device performs the processing operations related to the associated moving component more accurately.

[0118] As an optional approach, after determining the mobile component associated with the operation point from multiple mobile components and obtaining the associated mobile component, the method further includes:

[0119] In the case of association locking, control the movement of adjacent mobile components of the associated mobile component to prevent adjacent mobile components from establishing association with the operation point;

[0120] Based on a preset safety distance parameter, the spacing between the associated moving component and adjacent moving components is controlled. Optionally, in some embodiments, the association lock between the associated moving component and the operating device can be determined before the operating device has completed the relevant processing operation on the associated moving component, and the association lock between the associated moving component and the operating device can also be determined when the number of associated moving components at the operating point reaches a preset upper limit.

[0121] It should be noted that one or more operating points can be set for a single operating device. Since the number of objects that the operating device can simultaneously perform process operations on is limited, that is, the number of moving components that can cooperate with the operating device at the same time is limited, the maximum number of operating points that can be associated with the same operating point is related to the number of objects that the operating device can simultaneously perform process operations on.

[0122] For example, if an operating device can simultaneously perform processing operations on X items, and a moving component loads one item, then the same operating point can be associated with a maximum of X moving components. As another example, if an operating device can simultaneously perform processing operations on Y items, and a moving component loads two items, then the same operating point can be associated with a maximum of Y / 2 moving components.

[0123] Therefore, when the number of mobile components associated with an operation point reaches a preset upper limit, it is necessary to control the movement status of subsequent mobile components to avoid the problem of discrepancies in the number of operations caused by subsequent mobile components establishing associations with the operation point.

[0124] It is also understandable that multiple operating devices can exist, and the association between each operating device and its corresponding operating point can be established through software settings or hardware connections. For example, operating devices and operating points can be associated with numbers. Or, if the position detection information of the moving component associated with an operating point is output through a designated output interface, then the operating device is electrically connected to that output interface.

[0125] Optionally, in some embodiments, in the case of association locking, the position measurement information of the associated mobile component still needs to be sent to the operating device, and then it is necessary to control the movement of the adjacent mobile components of the associated mobile component to prevent the adjacent mobile components from establishing an association with the operating point, so as to avoid the unexpected switching problem that the processing operation related to the associated mobile component cannot be fully executed by the operating device due to the adjacent mobile components of the associated mobile component establishing an association with the operating point.

[0126] The embodiments provided in this application, by controlling the movement of adjacent mobile components of the associated mobile component, can achieve the technical effect of avoiding the problem of unexpected switching of associated mobile components.

[0127] Optionally, in some embodiments, the distance between the associated moving component and the adjacent moving component can be controlled to be no less than a safe distance parameter. It is understood that during the operation of the device performing a processing operation related to the current associated moving component, the associated moving component needs to remain at the operation point. Therefore, by controlling the minimum distance of the safe distance parameter, collisions between the associated moving component and the next moving component of the associated moving component are avoided.

[0128] To further illustrate, when the distance between a mobile component adjacent to the associated mobile component and the associated mobile component reaches the minimum distance indicated by the safety distance parameter, the mobile component adjacent to the associated mobile component is controlled to stop moving until the associated mobile component moves and the distance between them exceeds the minimum distance indicated by the safety distance parameter, after which the mobile component adjacent to the associated mobile component is controlled to move.

[0129] For example, it can also be set to control other moving components (i.e., moving components that are heading towards the operation point but have not yet established an association with the operation point) after the associated moving component stays at the operation point to move to the waiting position point and stop moving, until the associated moving component finishes staying at the operation point or until the associated moving component loses its association with the operation point.

[0130] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application. In practical applications, the optional embodiments can be combined and cross-referenced without conflict, thereby extending to various possible embodiments. These extended embodiments can all be considered as embodiments disclosed and published in this application specification.

[0131] According to another aspect of the embodiments of this application, a linear motor is also provided, comprising:

[0132] The track assembly and multiple moving components, wherein each moving component is movably connected to the track assembly and each moving component is suitable for independent drive;

[0133] A position monitoring device is used to monitor the position of multiple moving components, identify the associated moving component that is associated with the operation point from among the multiple moving components, and send the position monitoring information of the associated moving component to the operation device. The operation device is used to perform processing operations related to the associated moving component based on the position monitoring information.

[0134] This application discloses a linear motor for executing the conveying control method disclosed in this application. Specific embodiments can be found in the embodiments of the conveying control method disclosed in this application, which will not be repeated here.

[0135] Optionally, as an alternative solution, the location monitoring device includes:

[0136] The position measurement module is used to measure the position of multiple moving components and obtain position measurement information;

[0137] The control module is used to monitor the position of multiple moving components based on position measurement information, and to send the position monitoring information of associated moving components directly or by controlling the position measurement device to the operating equipment.

[0138] Optionally, taking the control module for position monitoring of multiple moving components based on position measurement information, and sending the position monitoring information of the associated moving components directly to the operating device as an example, the linear motor disclosed in this application may, but is not limited to, referencing... Figure 9 Specifically, the control module 902 is connected to the position measurement module 904, the linear motor 906, and the operating device 908. The position measurement module 904 is located near the track assembly 906-1 of the linear motor and is used to measure the position of the moving assembly 906-2.

[0139] Optionally, taking the control module for position monitoring of multiple moving components based on position measurement information, and sending the position monitoring information of the associated moving components directly to the operating device as an example, the linear motor disclosed in this application may, but is not limited to, referencing... Figure 10 Specifically, the control module 1002 and the position measurement module 1004 are connected to the linear motor 1006, and the position measurement module 1004 is connected to the operating device 1008.

[0140] For specific embodiments, please refer to the embodiments of the conveying control method disclosed in this application, which will not be repeated here.

[0141] Optionally, as an alternative solution, the control module includes a control submodule and an interface extension submodule. The control submodule is used to monitor the position of multiple moving components based on position measurement information, and controls the interface extension submodule to send the position monitoring information of the associated moving components to the operating device.

[0142] For specific embodiments, please refer to the embodiments of the conveying control method disclosed in this application, which will not be repeated here.

[0143] Optionally, as an alternative solution, the position measurement module further includes a position measurement submodule and a gating submodule. The control module is used to monitor the position of the moving component based on the position measurement information and control the position measurement submodule and the gating submodule to send the position monitoring information of the moving component to the operating device.

[0144] Optionally, taking the control module for monitoring the position of multiple moving components based on position measurement information, and controlling the position measurement submodule and the gating submodule to send the position monitoring information of the associated moving components to the operating device as an example, the linear motor disclosed in this application may, but is not limited to, referencing... Figure 11 Specifically, the control module 1102 is connected to the position measurement submodule 1104, the linear motor 1106, and the gating submodule 1108. The position measurement submodule 1104 is connected to the gating submodule 1108, and the gating submodule 1108 is connected to the operating device 1110.

[0145] For specific embodiments, please refer to the embodiments of the conveying control method disclosed in this application, which will not be repeated here.

[0146] According to another aspect of the embodiments of this application, an automated production system is also provided, characterized in that it includes:

[0147] A linear motor includes a track assembly and multiple moving components, each moving component being movably connected to the track assembly and each moving component being suitable for independent drive;

[0148] Linear motor control equipment is used to control the track assembly to drive the moving assembly through magnetic coupling, and to monitor the position of multiple moving assemblies, and send the position monitoring information of the associated moving assembly that is identified as being associated with the operation point to the operation equipment.

[0149] Operating equipment is used to perform related processing operations on associated mobile components based on received location monitoring information.

[0150] This application discloses an automated production system for executing the conveying control method disclosed in this application. Specific embodiments can be found in the embodiments of the conveying control method disclosed in this application, which will not be repeated here.

[0151] According to another aspect of the embodiments of this application, a conveying control device is also provided, characterized in that it is applied to a transport equipment, the transport equipment including a track assembly and a plurality of moving components, each moving component being movably connected to the track assembly, and each moving component being adapted to be driven independently; the device includes:

[0152] A monitoring unit is used to monitor the position of multiple moving components;

[0153] The determining unit is used to determine the moving component associated with the operation point from multiple moving components, thereby obtaining the associated moving component;

[0154] The sending unit is used to send the position measurement information of the associated moving component to the operating device, wherein the operating device is used to perform processing operations related to the associated moving component based on the position measurement information, and the operating point is set according to the operating device.

[0155] The conveying control device disclosed in this application is used to execute the conveying control method disclosed in this application. Specific embodiments can be found in the embodiments of the conveying control method disclosed in this application, which will not be repeated here.

[0156] As an optional approach, the defined unit includes:

[0157] The determination module is used to determine the mobile components whose positional relationship with the operation point meets the association establishment conditions from multiple mobile components based on the positional relationship between multiple mobile components and the operation point, and to establish an association relationship with the operation point to obtain the associated mobile components.

[0158] As an optional approach, the module may include one of the following:

[0159] The first determining submodule is used to determine the mobile component that has arrived at the operation point from multiple mobile components, and establish an association relationship with the operation point to obtain the associated mobile component;

[0160] The second determining submodule is used to determine from multiple moving components the moving component that is moving toward the operation point and whose positional distance from the operation point meets the first distance condition, and to establish an association relationship with the operation point to obtain the associated moving component.

[0161] As an optional solution, the device may also include at least one of the following:

[0162] The unlinking module is used to, after determining the mobile components whose positional relationship with the operation point meets the association establishment conditions from among the multiple mobile components based on the positional relationship between the multiple mobile components and the operation point, unlink the operation point from the associated mobile components based on the positional relationship between the multiple mobile components and the operation point.

[0163] The switching module is used to, after determining the mobile components whose positional relationship with the operation point meets the association establishment conditions from among the multiple mobile components based on the positional relationship between the multiple mobile components and the operation point, switch the association status between the operation point and the multiple mobile components based on the positional relationship between the multiple mobile components and the operation point.

[0164] As an optional solution, the deactivation module includes:

[0165] The release submodule is used to release the association between the associated mobile component and the operation point when it is detected that the associated mobile component has moved out of the operation point and the positional distance between the mobile component and the operation point meets the second distance condition.

[0166] As an optional solution, switching modules includes:

[0167] The first switching submodule is used to switch the mobile component associated with the operation point when it is detected that there are other mobile components among multiple mobile components whose positional relationship with the operation point meets the association establishment conditions.

[0168] The second switching submodule is used to switch the operation point associated with the associated mobile component when the positional relationship between the associated mobile component and other operation points among multiple operation points is detected to meet the association establishment conditions.

[0169] As an optional solution, the device also includes:

[0170] The correction module is used to correct the position measurement information before sending the relative position measurement information of the associated moving component to the operating device, when the position measurement information indicates the relative position of the associated moving component.

[0171] As an optional solution, the calibration module includes:

[0172] The calibration submodule is used to perform displacement deviation compensation or zeroing operations on the relative position measurement information of the associated moving component when it is determined that the associated moving component has arrived at the operation point. The displacement deviation used in the displacement deviation compensation operation is determined based on the distance between the associated moving component and the operation point from the establishment of the association between the associated moving component and the operation point to the arrival of the associated moving component at the operation point.

[0173] As an optional solution, the device also includes:

[0174] The sending module is used to determine the mobile component associated with the operation point from multiple mobile components. After obtaining the associated mobile component, when it is determined that the associated mobile component has arrived at the operation point, it sends a zeroing command to the operation device to instruct the operation device to perform a zeroing operation on the received position measurement information.

[0175] As an optional solution, the device also includes:

[0176] The first control module is used to determine the mobile component associated with the operation point from multiple mobile components. After obtaining the associated mobile component, under the condition of association locking, it controls the movement of the mobile components adjacent to the associated mobile component to prevent the adjacent mobile components from establishing an association with the operation point.

[0177] The second control module is used to determine the mobile component associated with the operation point from multiple mobile components, and after obtaining the associated mobile component, control the spacing between the associated mobile component and the adjacent mobile components based on a preset safety distance parameter.

[0178] As an optional solution, the transmitting unit includes at least one of the following:

[0179] The first transmitting module is used to transmit the absolute position measurement information of the associated moving component to the operating device;

[0180] The second transmitting module is used to transmit the relative position measurement information of the associated moving component to the operating device.

[0181] According to one aspect of this application, a computer-readable storage medium is provided, wherein a processor of a computer device reads computer instructions from the computer-readable storage medium, and executes the computer instructions, causing the computer device to perform the methods provided in various optional implementations disclosed in this application.

[0182] Optionally, in this embodiment, the computer-readable storage medium disclosed in this application may be configured to store a computer program for performing the following steps:

[0183] Position monitoring of multiple moving components;

[0184] The associated mobile component is determined from multiple mobile components and associated with the operation point.

[0185] The location measurement information of the associated moving component is sent to the operating device, which is used to perform processing operations related to the associated moving component based on the location measurement information. The operating point is set according to the operating device.

[0186] Optionally, in this embodiment, those skilled in the art will understand that all or part of the steps in the various methods of the embodiments disclosed in this application can be implemented by a program instructing the hardware related to the control device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0187] The sequence numbers of the embodiments disclosed in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0188] If the units, modules, etc., in the embodiments disclosed in this application are implemented as software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium disclosed in this application. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a control terminal (such as a control device, control equipment, etc.) to execute all or part of the steps of the methods in the various embodiments of this application.

[0189] In the embodiments disclosed in this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0190] In the several embodiments provided in this application, it should be understood that the described embodiments are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0191] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0192] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each functional unit can exist physically separately, or two or more functional units can be integrated into one processing unit. Each functional unit can be implemented in hardware (such as circuits, processors, modules, etc.) or in software.

[0193] The above are merely optional embodiments of this application. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A conveying control method, characterized in that, The method is applied to transportation equipment, which includes a track assembly and multiple moving components, each of which is movably connected to the track assembly and is adapted to be driven independently; the method includes: Position monitoring is performed on the multiple moving components; The associated mobile component is determined from the plurality of mobile components and associated with the operation point. The position measurement information of the associated mobile component is sent to the operating device, wherein the operating device is used to perform processing operations related to the associated mobile component based on the position measurement information, and the operating point is set according to the operating device; Determining the associated mobile component from the plurality of mobile components includes: determining the mobile component whose positional relationship with the operation point meets the association establishment conditions from the plurality of mobile components according to the positional relationship between the plurality of mobile components and the operation point, and establishing an association relationship with the operation point to obtain the associated mobile component; After determining, based on the positional relationship between the plurality of moving components and the operation point, the moving component whose positional relationship with the operation point meets the association establishment conditions, the method further includes at least one of the following: based on the positional relationship between the plurality of moving components and the operation point, deactivating the association relationship between the operation point and the associated moving component; or, based on the positional relationship between the plurality of moving components and the operation point, switching the association status between the operation point and the plurality of moving components.

2. The method according to claim 1, characterized in that, The step of determining, based on the positional relationship between the plurality of moving components and the operation point, a moving component whose positional relationship with the operation point meets the association establishment condition from the plurality of moving components includes one of the following: From the plurality of moving components, determine the moving component that arrives at the operation point, and establish an association relationship with the operation point to obtain the associated moving component; From the plurality of moving components, determine the moving component that is moving toward the operation point and whose positional distance from the operation point meets the first distance condition, and establish an association relationship with the operation point to obtain the associated moving component.

3. The method according to claim 1, characterized in that, The step of releasing the association between the operation point and the associated mobile component based on the positional relationship between the plurality of mobile components and the operation point includes: If the associated mobile component is detected to have left the operation point and the positional distance between the associated mobile component and the operation point meets the second distance condition, the association between the associated mobile component and the operation point is terminated.

4. The method according to claim 1, characterized in that, The step of switching the association between the operation point and the multiple moving components based on the positional relationship between the multiple moving components and the operation point includes: If it is detected that there are other mobile components among the plurality of mobile components whose positional relationship with the operation point meets the association establishment conditions, the mobile component associated with the operation point is switched. If the positional relationship between the associated mobile component and other operation points among multiple operation points is detected to meet the association establishment conditions, the operation point associated with the associated mobile component is switched.

5. The method according to claim 1, characterized in that, Before sending the position measurement information of the associated moving component to the operating device, the method further includes: When the position measurement information indicates the relative position of the associated moving component, the position measurement information is corrected.

6. The method according to claim 5, characterized in that, The error correction processing of the location measurement information includes: When it is determined that the associated moving component has arrived at the operation point, a displacement deviation compensation operation or a zeroing operation is performed on the cumulative result of the relative position measurement information of the associated moving component. The displacement deviation used in the displacement deviation compensation operation is determined based on the distance between the establishment of the association between the associated moving component and the operation point and the arrival of the associated moving component at the operation point.

7. The method according to any one of claims 1 to 6, characterized in that, After determining the mobile component associated with the operation point from the plurality of mobile components and obtaining the associated mobile component, the method further includes: When it is determined that the associated moving component has arrived at the operation point, a zeroing command is sent to the operation device to instruct the operation device to perform a zeroing operation on the received relative position measurement information of the associated moving component.

8. The method according to any one of claims 1 to 6, characterized in that, After determining the mobile component associated with the operation point from the plurality of mobile components and obtaining the associated mobile component, the method further includes at least one of the following: In the case of association locking, the movement of adjacent moving components of the associated moving component is controlled to prevent adjacent moving components from establishing an association with the operation point; Based on a preset safety distance parameter, the spacing between the associated moving component and the adjacent moving component is controlled.

9. The method according to any one of claims 1 to 6, characterized in that, Sending the position measurement information of the associated mobile component to the operating device includes at least one of the following: The absolute position measurement information of the associated moving component is sent to the operating device; The relative position measurement information of the associated moving component is sent to the operating device.

10. A conveying control device connected to the transport equipment, the transport equipment comprising a track assembly and a moving assembly, the track assembly being used to drive the moving assembly via magnetic coupling, the moving assembly being used to move along the track assembly; The conveying control method applied to any one of claims 1-9 is characterized in that, The device includes: A monitoring unit is used to monitor the position of the plurality of moving components; The determining unit is used to determine the moving component associated with the operation point from the plurality of moving components, and obtain the associated moving component; A sending unit is configured to send the position measurement information of the associated mobile component to an operating device, wherein the operating device is configured to perform processing operations related to the associated mobile component based on the position measurement information, and the operating point is set according to the operating device; The determining unit further includes a determining module, which is used to determine the mobile component associated with the operation point from the plurality of mobile components through the following steps to obtain the associated mobile component: based on the positional relationship between the plurality of mobile components and the operation point, determine the mobile component whose positional relationship with the operation point meets the association establishment conditions from the plurality of mobile components, and establish an association relationship with the operation point to obtain the associated mobile component; The device further includes at least one of the following: a release module, configured to release the association between the operation point and the associated mobile component based on the positional relationship between the plurality of mobile components and the operation point; and a switching module, configured to switch the association between the operation point and the plurality of mobile components based on the positional relationship between the plurality of mobile components and the operation point.

11. A linear motor, applied to the conveying control method according to any one of claims 1-9, characterized in that, include: A track assembly and a plurality of moving components, wherein each of the moving components is movably connected to the track assembly and each of the moving components is adapted to be driven independently; A position monitoring device is used to monitor the position of the plurality of moving components and determine the associated moving component that is associated with the operation point from the plurality of moving components, and to send the position monitoring information of the associated moving component to the operation device, wherein the operation device is used to perform processing operations related to the associated moving component based on the position monitoring information.

12. The linear motor according to claim 11, characterized in that, The location monitoring device includes: The position measurement module is used to measure the position of the multiple moving components and obtain position measurement information. The control module is used to monitor the position of the plurality of moving components based on the position measurement information, and to send the position monitoring information of the associated moving components directly or by controlling the position measurement device to the operating device.

13. The linear motor according to claim 12, characterized in that, The control module includes a control submodule and an interface extension submodule. The control submodule is used to monitor the position of the plurality of moving components according to the position measurement information, and to send the position monitoring information of the associated moving components to the operating device through the interface extension submodule.

14. The linear motor according to claim 12, characterized in that, The position measurement module further includes a position measurement submodule and a gating submodule. The control module is used to monitor the position of the moving component based on the position measurement information, and control the position measurement submodule and the gating submodule to send the position monitoring information of the tracking moving component to the operating device.

15. An automated production system, applied to the conveying control method according to any one of claims 1-9, characterized in that, include: A linear motor, comprising a track assembly and a plurality of moving components, each of the moving components being movably connected to the track assembly and each of the moving components being adapted to be driven independently; A linear motor control device is used to control the track assembly to drive the moving assembly through magnetic coupling, and to monitor the position of the plurality of moving assemblies, and to send the position monitoring information of the associated moving assembly determined to be associated with the operation point to the operation device. An operating device is used to perform related processing operations on the associated mobile component based on the received location monitoring information.

16. A computer-readable storage medium, characterized in that, It stores a program that, when executed by a processor, implements the method described in any one of claims 1 to 9.

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