A workstation control method, device and magnetic drive motor conveying system

Abstract

The present application discloses a workstation control method, device and magnetic drive motor conveying system, the magnetic drive motor conveying system includes a conveying line body formed by splicing a plurality of stators in sequence along the conveying line direction, a mover magnetically coupled with the stator, and a plurality of workstations are arranged on the conveying line body, the method includes: obtaining the current state information of the mover; judging whether the workstation boundary corresponding to the current workstation and / or the next workstation where the mover is located is enabled according to the current state information; if so, determining the target area where the mover is located according to the current state information, and controlling the mover to switch to the control mode corresponding to the target area; the area includes the inner boundary area and the outer boundary area corresponding to different workstations, and the inner boundary area and the outer boundary area are divided by the workstation boundary. The present application can realize the centralized control of the workstations of the production line, significantly reduce the workload of program writing, and improve the efficiency and control accuracy of the production line.

Description

Technical Field

[0001] The present application relates to the field of automated conveying systems, and in particular to a workstation control method and device and a magnetic drive motor conveying system. Background Art

[0002] The magnetic drive motor conveying system, also known as the magnetic suspension conveying system, has gradually replaced the traditional belt conveying and chain drive conveying systems in many fields due to its advantages of high flexibility, high speed and high precision. The magnetic drive motor conveying system usually includes a stator and a mover. The stator is spliced ​​in sequence along the conveying direction to form a conveying line, and the mover moves on the conveying line.

[0003] In related technologies, PLC (Programmable Logic Controller) is often used to control production lines and workstations. By writing PLC programs, each workstation can be independently controlled, including operations such as enabling, disabling, pausing, and resuming the workstation, as well as emergency stopping of the mover within the workstation range. However, each workstation needs to write or debug the PLC program separately, which is a lot of work. Since the control programs of each workstation are independent, it is difficult to achieve precise coordination and linkage between the workstations, resulting in reduced production line efficiency. Summary of the invention

[0004] The embodiments of the present application provide a workstation control method, device and magnetic drive motor conveying system, which can realize centralized control of production line workstations, significantly reduce the workload of program writing, and improve the efficiency and control accuracy of the production line. The above technical solution is as follows:

[0005] In the first aspect, an embodiment of the present application provides a workstation control method, which is applied to a magnetic drive motor conveying system, wherein the magnetic drive motor conveying system includes a conveying line body formed by a plurality of stators spliced ​​in sequence along the conveying line direction, and a mover magnetically coupled to the stator. The magnetic drive motor conveying system is provided with a plurality of workstations on the conveying line body, and the workstation control method includes: obtaining current state information of the mover; the current state information includes current motion parameters of the mover, and workstation information corresponding to the current workstation and / or the next workstation where the mover is located; judging whether the workstation boundaries corresponding to the current workstation and / or the next workstation where the mover is located are enabled according to the current state information; if so, determining the target area where the mover is located according to the current state information, and controlling the mover to switch to the control mode corresponding to the target area; the area includes inner-boundary areas and outer-boundary areas corresponding to different workstations, and the inner-boundary areas and the outer-boundary areas are divided by the workstation boundaries.

[0006] In a possible implementation, the above-mentioned workstation control method also includes: receiving input instructions; controlling the workstation boundary position and enable status corresponding to one or more workstations according to the above-mentioned input instructions, and / or setting the corresponding control mode in one or more areas; wherein, the corresponding workstation boundary position and enable status are set independently or in association with different workstations; and the corresponding control mode in the above-mentioned areas is set independently or in association with different areas.

[0007] In a possible implementation, the above-mentioned determination of whether the workstation boundary corresponding to the current workstation and / or the next workstation where the above-mentioned mover is located is enabled based on the above-mentioned current status information includes: determining whether the above-mentioned mover is within the workstation range based on the above-mentioned current status information; if so, determining whether the workstation boundary corresponding to the current workstation is enabled; if not, determining whether the workstation boundary corresponding to the next workstation is enabled.

[0008] In a possible implementation, after determining whether the workstation boundary corresponding to the current workstation is enabled, the method further includes: if the workstation boundary corresponding to the current workstation is disabled, determining whether the workstation boundary corresponding to the next workstation is enabled.

[0009] In a possible implementation, after determining whether the workstation boundary corresponding to the next workstation is enabled, the method further includes: if the workstation boundary corresponding to the next workstation is disabled, controlling the mover to maintain the current control mode.

[0010] In a possible implementation, the target area where the mover is located is determined based on the current state information, including: when the workstation boundary corresponding to the current workstation is enabled, the target area where the mover is located is determined to be the area within the boundary of the current workstation; when the workstation boundary corresponding to the next workstation is enabled, the target area where the mover is located is determined to be the area outside the boundary of the next workstation.

[0011] In a possible implementation, the type of the above-mentioned control mode includes workstation boundary protection; the above-mentioned control of switching the above-mentioned mover to the control mode corresponding to the above-mentioned target area includes: when the type of control mode corresponding to the above-mentioned target area is workstation boundary protection, judging whether the number of movers in the next area of ​​the above-mentioned target area has reached saturation; if saturated, controlling the above-mentioned mover to switch to the protection control mode until the number of movers in the above-mentioned next area is unsaturated and then restoring the original control mode; under the above-mentioned protection control mode, the above-mentioned mover is braked before the workstation boundary of the above-mentioned target area; if not saturated, controlling the above-mentioned mover to maintain the current control mode until the above-mentioned mover leaves the above-mentioned target area.

[0012] In a possible implementation, the type of the above-mentioned control mode includes an emergency stop within a workstation range; the above-mentioned control of switching the above-mentioned mover to the control mode corresponding to the above-mentioned target area includes: when the type of control mode corresponding to the above-mentioned target area is an emergency stop within a workstation range, controlling the above-mentioned mover to switch to the emergency stop control mode corresponding to the above-mentioned target area, and restoring the original control mode after any of the above-mentioned situations occurs, such as the above-mentioned mover leaves the above-mentioned target area, the workstation boundary of the above-mentioned target area is disabled, or the control mode of the above-mentioned target area is changed; under the above-mentioned emergency stop control mode, the above-mentioned mover travels or stops at a designated position based on the safety distance and / or maximum speed limit corresponding to the emergency stop control mode.

[0013] In the second aspect, an embodiment of the present application provides a workstation control device, which is configured in a magnetic drive motor conveying system. The magnetic drive motor conveying system includes a conveying line body formed by a plurality of stators spliced ​​in sequence along the conveying line direction, and a mover magnetically coupled with the stator. The magnetic drive motor conveying system is provided with a plurality of workstations on the conveying line body. The device includes: an acquisition module, which is used to acquire current state information of the mover; the current state information includes the current motion parameters of the mover, and the workstation information corresponding to the current workstation and / or the next workstation where the mover is located; a judgment module, which is used to judge whether the workstation boundary corresponding to the current workstation and / or the next workstation where the mover is located is enabled according to the current state information; an execution module, which is used to determine the target area where the mover is located according to the current state information if so, and control the mover to switch to the control mode corresponding to the target area; the area includes inner boundary areas and outer boundary areas corresponding to different workstations, and the inner boundary areas and the outer boundary areas are divided by the workstation boundaries.

[0014] In a possible implementation, the device further includes: receiving input instructions; controlling the workstation boundary position and enable status corresponding to one or more workstations according to the input instructions, and / or setting corresponding control methods in one or more areas; wherein the corresponding workstation boundary positions and enable status are set independently or in association with different workstations; and the corresponding control methods in the above areas are set independently or in association with different areas.

[0015] In a possible implementation, the judgment module is specifically used to: judge whether the mover is within the workstation range according to the current state information; if so, judge whether the workstation boundary corresponding to the current workstation is enabled; if not, judge whether the workstation boundary corresponding to the next workstation is enabled.

[0016] In a possible implementation, the above-mentioned judgment module is further specifically used for: if the workstation boundary corresponding to the current workstation is disabled, then judging whether the workstation boundary corresponding to the next workstation is enabled.

[0017] In a possible implementation, the judgment module is further specifically configured to: if a workstation boundary corresponding to the next workstation is disabled, control the mover to maintain the current control mode.

[0018] In a possible implementation, the execution module is specifically used to: when the workstation boundary corresponding to the current workstation is enabled, determine the target area where the mover is located as the area within the boundary of the current workstation; when the workstation boundary corresponding to the next workstation is enabled, determine the target area where the mover is located as the area outside the boundary of the next workstation.

[0019] In a possible implementation, the type of the above-mentioned control method includes workstation boundary protection; the above-mentioned execution module is also specifically used to: when the type of control method corresponding to the above-mentioned target area is workstation boundary protection, determine whether the number of movers in the next area of ​​the above-mentioned target area has reached saturation; if saturated, control the above-mentioned mover to switch to the protection control method until the number of movers in the above-mentioned next area is not saturated and then restore the original control method; under the above-mentioned protection control method, the above-mentioned mover is braked before the workstation boundary of the above-mentioned target area; if not saturated, control the above-mentioned mover to maintain the current control method until the above-mentioned mover leaves the above-mentioned target area.

[0020] In a possible implementation, the type of the above-mentioned control mode includes an emergency stop within the workstation range; the above-mentioned execution module is also specifically used to: when the type of control mode corresponding to the above-mentioned target area is an emergency stop within the workstation range, control the above-mentioned mover to switch to the emergency stop control mode corresponding to the above-mentioned target area, until any of the above-mentioned mover leaves the above-mentioned target area, the workstation boundary of the above-mentioned target area is disabled, or the control mode of the above-mentioned target area is changed, and then restore the original control mode; under the above-mentioned emergency stop control mode, the above-mentioned mover travels or stops at a specified position based on the safety distance and / or maximum speed limit corresponding to the emergency stop control mode.

[0021] In a third aspect, an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above method steps.

[0022] In a fourth aspect, an embodiment of the present application provides a magnetically driven motor conveying system, which includes a conveying line body formed by multiple stators spliced ​​in sequence along the conveying line direction, a mover magnetically coupled to the stator, and a controller. The magnetically driven motor conveying system is provided with multiple workstations on the conveying line body; the controller includes: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the above-mentioned method steps.

[0023] In one or more embodiments of the present application, by obtaining the current state information of the above-mentioned mover; the above-mentioned current state information includes the current motion parameters of the above-mentioned mover and the station information corresponding to the current station and / or the next station where the above-mentioned mover is located; according to the above-mentioned current state information, it is determined whether the station boundary corresponding to the current station and / or the next station where the above-mentioned mover is located is enabled; if so, the target area where the above-mentioned mover is located is determined according to the above-mentioned current state information, and the above-mentioned mover is controlled to switch to the control mode corresponding to the above-mentioned target area; the above-mentioned area includes the inner boundary area and the outer boundary area corresponding to different stations, and the inner boundary area and the outer boundary area are divided by the station boundary. In this way, through the above-mentioned station control method, the user does not need to program each station or mover separately, and can control the entire production line by centrally managing the enabling state of the station, thereby greatly reducing the programming workload and improving production efficiency. By real-time monitoring of the state of the mover and dynamically adjusting the control strategy, the system can adapt to different production needs and environmental changes to ensure the safe operation and reliability of the system. The station boundary can set the operating area of ​​each station. The station range emergency stop control allows the mover to stop only within a specific station range without affecting the movers in other stations, maintaining the continuity of production and reducing the impact of emergencies on the overall production schedule and product quality. The station boundary protection allows the mover to automatically wait outside the designated area and not enter the area, thereby optimizing the collaborative work between stations and avoiding low production efficiency or potential collision risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the structure of a magnetic drive motor conveying system provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of a flow chart of a workstation control method provided in an embodiment of the present application;

[0027] Figure 3 A schematic diagram of a workstation area division provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of another workstation control method provided in an embodiment of the present application;

[0029] Figure 5 A flow chart of a control method based on workstation boundary protection provided in an embodiment of the present application;

[0030] Figure 6 A schematic diagram of a workstation boundary protection provided in an embodiment of the present application;

[0031] Figure 7 A schematic diagram of the structure of a workstation control device provided in an embodiment of the present application;

[0032] Figure 8 A schematic diagram of the structure of another magnetic drive motor conveying system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0034] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0035] Please refer to the following Figure 1 , which is a structural schematic diagram of a magnetic drive motor conveying system provided by an exemplary embodiment of this specification.

[0036] like Figure 1 As shown, the magnetic drive motor conveying system provided in the embodiment of the present application includes a stator and a mover magnetically coupled to the stator, and multiple stators are spliced ​​in sequence along the conveying line direction to form a conveying line body, and the mover can move on the conveying line body.

[0037] It can be understood that the magnetic drive motor conveying system in the embodiment of the present application refers to a conveying system based on a linear motor, such as a magnetic levitation conveying system. Among them, the stator is a fixed part, which can be spliced ​​in sequence along the conveying direction to form a conveying line body. The electromagnetic coil can be integrated in the stator to generate an electromagnetic force field by controlling the current. The mover is the moving part suspended on the stator. The mover is suspended and driven by the electromagnetic force generated by the stator, so that it moves along the conveying path.

[0038] The magnetic drive motor conveying system is equipped with multiple stations on the conveyor line. Each station is a fixed position or area on the conveyor line, which is used to perform specific operation tasks. Each station can be controlled independently to achieve operations such as enabling, disabling, pausing and resuming. The station can set station boundaries. The station boundaries are used to divide the physical or logical boundaries of different station areas, define the starting point and end point of a station, and ensure that the mover can move in an orderly manner between different stations and perform corresponding operations. The existence of station boundaries helps to accurately control the movement of the mover, prevent interference and collision, and improve the efficiency and safety of the production line. The enabling state of the corresponding station boundary can be updated according to the enabling state of the station. If the station needs to be activated, the corresponding station boundary is set to "enable"; if the station does not need to be activated or is in a disabled state, the corresponding station boundary is set to "disable".

[0039] The magnetic drive motor conveying system also includes a controller, a sensor, a driver, etc. The sensor is used to monitor the motion parameters such as the position, speed and acceleration of the mover, and feed the data back to the controller. The controller is used to process the sensor data, run the control algorithm, and generate the control signal. The driver is used to receive the control signal of the controller, and control the stator to generate an electromagnetic force field by adjusting the current, voltage and other parameters to drive the suspension and movement of the mover.

[0040] The controller includes a local controller and / or a host computer. The local controller is connected to the stator signal in the conveyor line body, and multiple stators are connected in series in sequence, so as to realize the signal communication between the local controller and multiple stators. Multiple local controllers can also be connected to a PLC (Programmable Logic Controller) or PC (Personal Computer) host computer, and each local controller is monitored by the host computer. The host computer is responsible for global data acquisition and control logic management, and communicates with multiple local controllers.

[0041] The principle of the stator driving the mover to move is explained below. The stator may include an armature winding, in which a plurality of coils arranged in phase sequence are arranged. The armature winding is periodically energized to change the magnetic field around the armature winding, thereby achieving the purpose of driving the mover to move. For example, the mover may be provided with a permanent magnet array, which generates a constant magnetic field around the mover. When the energization direction and / or the magnitude of the energization current of the coil in the armature winding changes, a changing magnetic field will be generated around the armature winding. The changing magnetic field interacts with the constant magnetic field, which can drive the mover to move relative to the stator.

[0042] It should be noted that the mover is not limited to using a permanent magnetic array to achieve cooperation with the stator, and the mover may also use a coil or other device to achieve movement of the mover relative to the stator through cooperation between the changing magnetic field around the mover and the changing magnetic field around the stator. This embodiment of the application is not limited to this.

[0043] Optionally, the shape formed by the stator in the magnetic drive motor conveying system along the moving direction of the mover can be a straight line shape or an arc shape. Multiple stators can be spliced ​​together. According to the splicing conditions of the stators, in terms of shape, a conveying line body of a closed shape (circular, runway, square, etc.) or a conveying line body of a non-closed shape (S-shaped, straight, C-shaped, etc.) can be spliced ​​together.

[0044] Optionally, for a single non-closed conveyor line or multiple non-closed conveyor line bodies distributed at intervals, a transfer mechanism can be used to transfer the mover from one conveyor line body to another; or, the mover can be transferred from one end of the conveyor line body to the other end of the conveyor line body. The transfer mechanism can use mechanical transmission components (conveyor belt components, chain components, telescopic components) to transfer the mover to form a mixed conveyor line.

[0045] Next, combine Figure 1 , introduces the workstation control method provided by the embodiment of this application. For details, please refer to Figure 2 , which is a flow chart of a workstation control method provided by an exemplary embodiment of this specification. Figure 2 As shown, the station control method includes the following steps:

[0046] S201, obtaining current status information of the mover.

[0047] Specifically, the current state information of the mover refers to the real-time data of the mover obtained by the controller. The current state information is used to determine the current position, movement status and specific station position of the mover on the production line, so as to achieve accurate control and management.

[0048] The current state information of the mover includes the current motion parameters of the mover, and the workstation information corresponding to the current workstation and / or the next workstation where the mover is located.

[0049] The current motion parameters of the mover refer to various physical quantities that describe the real-time state of the mover. In some embodiments, the current motion parameters may include but are not limited to one or more of the following:

[0050] Mover Specifications: Physical size and shape information of the mover, which can include length, width, and height. Mover specifications help determine the space the mover will occupy on the conveyor line.

[0051] Current position: The current coordinates or position of the mover on the conveyor line. Position data is usually obtained in real time through a position sensor (such as an encoder or laser sensor). The current position helps to accurately locate the mover.

[0052] Direction of motion: The current direction of motion of the mover, which can be expressed as a vector or angle. The direction of motion combined with the velocity and acceleration of the mover can predict the future trajectory of motion.

[0053] Current speed: The instantaneous speed of the mover, mainly including the linear speed of the mover along the conveyor line. The current speed is calculated by the rate of change of data from the speed sensor or position sensor. Speed ​​information helps to regulate the movement of the mover to ensure that it runs within the predetermined speed range.

[0054] Maximum speed limit: The maximum speed allowed for the mover in the conveying system. The maximum speed limit is determined by the design and safety requirements of the magnetic drive motor conveying system. It can prevent the mover from overspeeding and ensure that the mover operates within a safe and efficient range, thereby avoiding system failures or safety hazards.

[0055] Acceleration: The instantaneous acceleration of the mover, mainly including the linear acceleration of the mover along the conveyor line. The acceleration is obtained through an acceleration sensor or by calculating the rate of change of velocity. Acceleration information helps predict the dynamic behavior of the mover and make necessary control adjustments.

[0056] Load status: The status of the items carried by the mover, including the presence or absence of load, load weight, load size, etc. Load status information helps adjust the motion parameters of the mover to ensure stable and safe operation under different load conditions.

[0057] The current motion parameters of the above-mentioned movers can be acquired in real time through sensors or other monitoring equipment arranged on the conveyor line body, and uploaded to the controller for analysis and processing.

[0058] In this embodiment, a plurality of workstations are arranged on the conveyor line, and the workstation information corresponding to the workstations may include but is not limited to workstation identification codes, workstation positions, workstation boundaries, workstation states, workstation control methods and other information.

[0059] The position of the workstation can be determined based on the axis length of the production line (the length of the conveyor line body) and the interval information. The production line can be divided into multiple intervals according to the specific production steps. Each interval corresponds to one or more workstations. Each workstation has a unique workstation identification code, which is used to uniquely identify and manage the workstation in the system. The position coordinates of the workstation can be determined based on the position coordinates on the conveyor line body. The position coordinates of the workstation boundary can also be set for each workstation. The workstation boundary defines the physical or logical range of the workstation. The workstation status includes whether the workstation (workstation boundary) is enabled (enabled) or disabled, and the status of the mover in the workstation (such as the maximum number of movers in the workstation, the current number of movers, etc.). The workstation control method includes the mover control logic in the workstation. Different workstations have different corresponding mover control logics due to the different work operations they need to perform.

[0060] In this embodiment, after obtaining the current motion parameters of the mover, the current position of the mover can be determined according to the current motion parameters of the mover. The station identification code of the current station where the mover is located and / or the station identification code of the next station can be determined based on the position coordinates of each station on the conveyor line and the station boundary position. The station information of the station corresponding to the station identification code can be queried through the station identification code.

[0061] It should be noted that the current position of the mover can be determined based on the current motion parameters of the mover, and the mover may be within the workstation range or outside the workstation range. When the mover is within the workstation range, the workstation is the current workstation; when the mover is outside the workstation range, the workstation to be reached is the next workstation, and the workstation range can be determined by the coordinates of the workstation boundary position.

[0062] In some embodiments, the method also includes: receiving input instructions; controlling the workstation boundary position and enable status corresponding to one or more workstations according to the input instructions, and / or setting the corresponding control mode in one or more areas; wherein different workstations independently or in association set the corresponding workstation boundary position and enable status; different areas independently or in association set the corresponding control mode within the area.

[0063] Specifically, the workstations in the magnetic drive motor conveying system are centrally controlled by the controller; the user can input control instructions to the controller through the user interface, adjust the status of each workstation, and control the workstations individually or uniformly. The workstation boundaries of different workstations can be set individually, or multiple workstations can be selected in batches for unified association settings. The workstation ranges of each workstation can be the same or different, and any one or more workstations can be disabled or enabled.

[0064] For example, the position of the station boundary can be changed by inputting a command, such as moving one or both sides of the station boundary along the conveyor line to expand or reduce the range of the station boundary. The station enable state can also be set by inputting a command, such as setting one or all station boundaries to disable or enable.

[0065] S202, judging whether the station boundary corresponding to the current station and / or the next station where the mover is located is enabled according to the current state information.

[0066] Specifically, the current state information of the mover includes the current motion parameters of the mover and the station information corresponding to the current station and / or the next station where the mover is located, and the station information includes the enabling state of the station boundary. This embodiment can further control the mover in different positions according to the enabling state of the station boundary corresponding to the current station and / or the next station where the mover is located.

[0067] S203: If yes, determine the target area where the mover is located according to the current state information, and control the mover to switch to the control mode corresponding to the target area.

[0068] Specifically, the above-mentioned area includes the inner boundary area and the outer boundary area corresponding to different stations, and the inner boundary area and the outer boundary area are divided by the station boundary. When the station boundary corresponding to the current station and / or the next station where the mover is located is enabled, the target area where the mover is located can be determined. The station boundary can be set to define the station range. When the station boundary is enabled, the conveyor line body where the station is located is divided into the inner boundary area and the outer boundary area by the station boundary.

[0069] For example, Figure 3 As shown, station 1 is used as the current station for the introduction. The current position of the mover can be in station 1 or between station 1 and station 2 (when the mover is in station 2, station 2 is the current station). Figure 3 As shown in (a), when the station boundary of station 1 and the station boundary of station 2 are both enabled, the station boundary can divide the conveyor line into R1 area, R2 area, and R3 area; R1 area is the inner boundary area of ​​station 1, R2 area is the outer boundary area of ​​station 2 (for ease of explanation, this application refers to the outer boundary area between the current station and the next station as the outer boundary area of ​​the next station), and R3 area is the inner boundary area of ​​station 2. Figure 3As shown in (b), when the station boundary of station 1 is disabled and the station boundary of station 2 is enabled, the station boundary can divide the conveyor line into R2' area and R3 area; R2' area is the outer boundary area of ​​station 2. Since the station boundary of station 1 is disabled, even if the mover is within the range of station 1, it is also in the outer boundary area of ​​station 2 (when the station boundary of the current station is disabled, the outer boundary area of ​​the next station includes the current station range), and R3 area is the inner boundary area of ​​station 2. Therefore, when the mover moves on the conveyor line, the target area where the mover is located may be R1 area, R2 area or R2' area, that is, the target area where the mover is located is the inner boundary area of ​​the current station or the outer boundary area of ​​the next station. When the station boundary of station 1 and the station boundary of station 2 are both disabled, the mover can maintain the original control mode and enter the range of station 2, and then make subsequent target area judgments with station 2 as the current station.

[0070] In this embodiment, the inner boundary area and the outer boundary area can be divided based on the station boundary. The same or different control modes can be set for different areas. According to the different target areas where the mover is located, the control mode of the mover is switched to the control mode defined in the target area. For example, station 1 needs to process the load on the mover. The station boundary of station 1 is enabled. After the mover enters the inner boundary area of ​​station 1, the control mode of the inner boundary area of ​​station 1 is that the mover moves to the specified position at the specified speed limit and stops. After receiving the processing completion signal of the operating device, the mover is controlled to move away from the current station.

[0071] It should be noted that when the station boundary of a station is disabled, the inner boundary area and outer boundary area corresponding to the station do not exist, and the control mode corresponding to the inner boundary area and outer boundary area will follow the original control mode of the actuator.

[0072] In the embodiment of the present application, by dynamically acquiring the current state information of the mover, judging the station boundary enabling state, and adjusting the control strategy in real time, the technical effects of simplified programming, precise control, optimized collaborative work, and enhanced system adaptability and safety are achieved, thereby significantly improving the overall efficiency and intelligence level of the production line.

[0073] The embodiment of the present application uses the above-mentioned station control method, so that users do not need to program each station or mover separately, and can control the entire production line by centrally managing the enabling status of the station, thereby greatly reducing the programming workload and improving production efficiency. By real-time monitoring of the status of the mover and dynamically adjusting the control strategy, the system can adapt to different production needs and environmental changes, ensuring the safe operation and reliability of the system.

[0074] Please refer to the following Figure 4 , which is a flow chart of another workstation control method provided by an exemplary embodiment of this specification. Figure 4 As shown, the station control method includes the following steps:

[0075] S401, obtaining current status information of the mover.

[0076] Specifically, S401 is consistent with S201 and will not be described in detail here.

[0077] S402, judging whether the mover is within the working position range according to the current state information.

[0078] If the mover is within the range of the workstation, S403 is executed; if the mover is not within the range of the workstation, S405 is executed.

[0079] Specifically, the current state information of the mover includes the current motion parameters of the mover and the station information corresponding to the current station and / or the next station where the mover is located. According to the current position of the mover and the corresponding station information, it can be determined whether the mover is within the preset station range. Among them, the station range can be determined based on the coordinates of the station position and the station boundary position without the need for station activation or station boundary enabling.

[0080] S403, determining whether the workstation boundary corresponding to the current workstation is enabled.

[0081] If the workstation boundary corresponding to the current workstation is enabled, S404 is executed; if the workstation boundary corresponding to the current workstation is disabled, S405 is executed.

[0082] Specifically, when the mover is within the workstation range of the current workstation, it is necessary to determine whether the workstation boundary corresponding to the current workstation is enabled. If the workstation boundary is enabled, it means that the workstation is enabled normally. If the workstation boundary is disabled, it means that the mover still operates according to the previous control method when it is in this workstation. That is, when the workstation boundary is enabled, the mover has a unique control method within the workstation boundary, and the mover moves under this unique control method; when the workstation boundary is not enabled, the workstation does not control the movement method of the mover, and the mover moves according to the original control method.

[0083] S404, determining that the target area where the mover is located is an area within the boundary of the current workstation, and controlling the mover to switch to a control mode corresponding to the target area.

[0084] Specifically, when the station boundary corresponding to the current station is enabled, the station is enabled normally, and the target area where the mover is located is determined to be the area within the boundary of the current station. The mover needs to follow the control method corresponding to the area within the boundary of the current station for control. In this embodiment, the influence area of ​​the station control method is divided by the station boundary. The user can arbitrarily set the control method corresponding to different areas. The mover is subject to different control methods according to the area where it is located. For example, the control method for the area within the boundary of the current station is set to a speed limit of 1m / s after entering the area, or the control method for the area outside the boundary of the current station is set to, when there is a mover in the current station, keep a safe distance outside the station boundary and stop in sequence. Among them, for the convenience of description, in this embodiment, the area outside the boundary of the current station refers to the area outside the boundary of the current station upstream of the conveyor line body.

[0085] S405, determining whether the workstation boundary corresponding to the next workstation is enabled.

[0086] If the workstation boundary corresponding to the next workstation is enabled, S406 is executed; if the workstation boundary corresponding to the next workstation is disabled, S407 is executed.

[0087] Specifically, if the mover is not within the workstation range, it means that the mover is in the area between the current workstation and the next workstation. In this embodiment, when the workstation boundary of a workstation is disabled, the inner boundary area and the outer boundary area corresponding to the workstation do not exist, and the control methods corresponding to the inner boundary area and the outer boundary area of ​​the workstation cannot take effect, that is, the mover still moves according to the original control method. It can be determined whether the outer boundary area of ​​the next workstation exists by judging whether the workstation boundary corresponding to the next workstation is enabled, thereby determining whether the mover is in the outer boundary area of ​​the next workstation.

[0088] When the station boundary corresponding to the current station is disabled, the inner boundary area and outer boundary area corresponding to the current station do not exist. Even if the mover is within the station range of the current station, the control method of the inner boundary area and the control method of the outer boundary area set for the current station cannot take effect, and the mover still moves according to the original control method. It is necessary to determine whether the station boundary corresponding to the next station is enabled to determine whether the outer boundary area of ​​the next station exists, so as to determine whether the mover is in the outer boundary area of ​​the next station.

[0089] S406, determining that the target area where the mover is located is an area outside the boundary of the next workstation, and controlling the mover to switch to a control mode corresponding to the target area.

[0090] Specifically, when the station boundary corresponding to the next station is enabled, the station is enabled normally, and the target area where the mover is located is determined to be the area outside the boundary of the next station. The mover needs to be controlled according to the control method corresponding to the area outside the boundary of the next station.

[0091] In this embodiment, the area outside the boundary of the next station may only include the interval between the current station and the next station, or may include the interval between the current station and the next station and the station range of the current station. Specifically, the actual range of the area outside the boundary of the next station is determined by the station boundary enable state of the current station. If the station boundary of the current station is enabled, the current station has an area inside the boundary, and the area outside the boundary of the next station does not include the station range of the current station; if the station boundary of the current station is disabled, the current station does not have an area inside the boundary, and the area outside the boundary of the next station includes the station range of the current station.

[0092] S407, controlling the above-mentioned mover to maintain the current control mode.

[0093] Specifically, if the station boundary corresponding to the next station is disabled, the area inside the boundary and the area outside the boundary of the next station do not exist, and the control method of the area inside the boundary and the control method of the area outside the boundary of the next station cannot take effect. The mover continues to operate in the current control mode until it enters the next station. The next station serves as the new current station and continues to determine the area where the mover is located and the corresponding control method, thereby forming a complete control logic for the mover on the entire production line.

[0094] In some embodiments, the magnetic drive motor conveying system may be provided with a universal global control method, and the movement of the mover is controlled based on the global control method when the mover is not in the inner boundary area and the outer boundary area of ​​any workstation.

[0095] Through the above method, this embodiment can accurately determine the area where the mover is located to control the mover to apply the corresponding control method. Since the control method can be set arbitrarily in different areas, the collaborative work of multiple workstations can be achieved, which can adapt to different production needs and environmental changes, improve production efficiency and ensure the safe operation and reliability of the system.

[0096] Next, the control method corresponding to the area in the workstation control method provided in the embodiment of the present application will be introduced.

[0097] In some embodiments, the type of control method includes station boundary protection and / or station range emergency stop. Station boundary protection means that when the mover approaches or crosses the station boundary, the system will take corresponding control measures, such as deceleration, stop or wait, to prevent the mover from entering the area that should not be entered. Station boundary protection helps to avoid collisions between movers between stations, ensure that the operations of each station do not interfere with each other, and improve the safety and efficiency of the production line. For example, during the transmission process, the processing station corresponding to the processing technology can only allow a single mover to be processed. When the previous mover is processing at the processing station, the next mover should stop outside the processing station and wait until the previous mover completes the processing before driving into the processing station. Alternatively, during the transmission process, the manipulator of the processing technology can clamp the bottle body on 10 movers at one time. Before entering the processing technology, the 10 movers enter the cache area in turn. The movers entering the cache area are controlled to be unable to drive out of the cache area. After there are 10 movers in the cache area, the cache area releases the boundary protection, and the 10 movers are transported to the station corresponding to the processing technology together.

[0098] Station range emergency stop refers to the function of emergency stop of the mover within a specific station range; specifically, station range emergency stop is limited to the mover within the specific station range and will not affect the operation of other stations or the entire production line. For example, in the event of equipment failure or safety issues, the mover within the specific station range is stopped in the shortest time to prevent the accident from expanding or further damage. The station range emergency stop function improves the safety of the production line, ensuring that the movement of the mover can be quickly and effectively controlled in an emergency to protect the safety of equipment and personnel. After handling the emergency, only the mover of the affected station can be restored to operation without interfering with the normal production of other stations, ensuring that the production line resumes normal operation as soon as possible. In other words, the station range emergency stop only brakes the mover within the area and will not affect the movement of other movers outside the station range. It should be noted that the station range emergency stop can also be used as a conventional control method for the station. The station range emergency stop can control the mover to stop by braking or to slow down the mover. For example, during the transmission process, the load on the mover in some sections is in the inspection area. At this time, the mover needs to reduce the movement speed and maintain a low speed to facilitate quality inspection.

[0099] In the workstation control method provided in this embodiment, the control mode is set to workstation boundary protection and workstation range emergency stop, which can significantly improve the safety, reliability and production efficiency of the magnetic drive motor conveying system.

[0100] For example, Figure 5 As shown, when the type of control mode corresponding to the target area is workstation boundary protection, the control method includes the following steps:

[0101] S501, determining whether the number of movers in the next area of ​​the target area has reached saturation.

[0102] If the number of movers in the next area of ​​the target area reaches saturation, S502 is executed; if the number of movers in the next area of ​​the target area does not reach saturation, S503 is executed.

[0103] In this embodiment, whether the number of movers in the next area has reached saturation can be determined based on the workstation information corresponding to the next area. It can be understood that the workstation information may include the saturation number of movers, and the number of movers in the inner boundary area or the outer boundary area corresponding to the workstation should be less than or equal to the saturation number of movers. Different areas can be set with different saturation numbers of movers, and the saturation number of movers can be determined according to the specific implementation scenario, which is not limited here.

[0104] If the number of movers in the next region is equal to the saturated number of movers, it means that the number of movers in the next region has reached saturation; if the number of movers in the next region is less than the saturated number of movers, it means that the number of movers in the next region has not reached saturation.

[0105] S502, controlling the mover to switch to a protection control mode until the number of movers in the next area is not saturated and then restoring the original control mode.

[0106] Specifically, when the number of movers in the next area reaches saturation, if the mover enters the next area again, a collision or other dangers may occur, affecting normal production work. After the mover switches to the protection control mode, the mover will be braked before the station boundary of the target area and cannot pass through the station boundary. Until the number of movers in the next area is not saturated, the original control mode will be restored to control the movement of the mover through the station boundary and enter the next area. It should be noted that when the mover is braked outside the station boundary of the next station, a preset safety distance should be maintained between each other; the original control mode can be a preset global control mode; the naming of the above protection control mode is only for the convenience of description and is not a limiting feature.

[0107] For example, Figure 6 As shown in the figure, the station boundary of station 3 is enabled, and the target area where mover A is located is the area outside the boundary of station 3; the type of control mode corresponding to the area outside the boundary of station 3 is station boundary protection, and the number of saturated movers in the area inside the boundary of station 3 is 2. When the number of movers in the area inside the boundary of station 3 reaches saturation, mover A switches to the protection control mode. In the protection control mode, mover A stops before the station boundary of station 3, and the subsequent movers ( Figure 6The mover B and mover C in the middle keep a safe distance and brake and stop in sequence. The mover in the boundary area of ​​station 3 moves out of station 3 after completing the preset process operation. The number of movers in the boundary area of ​​station 3 has not reached saturation, and mover A will return to the original control mode to pass through the station boundary of station 3 and enter the boundary area of ​​station 3. In addition, when the station boundary of the target area is disabled or the control mode of the target area is changed to other types such as emergency braking, the station boundary protection of the target area is released, the mover returns to the original control mode, and re-judges the current target area to determine whether to switch the current control mode.

[0108] S503, controlling the actuator to keep the current control mode and leave the target area.

[0109] Specifically, when the number of movers in the next area has not reached saturation, the movers can enter the next area normally, and the movers are controlled to maintain the current control mode to move forward until the movers leave the target area.

[0110] Exemplarily, when the type of control mode corresponding to the target area is a workstation range emergency stop, the control mover is switched to the emergency stop control mode corresponding to the target area until the mover leaves the target area, the workstation boundary of the target area is disabled, or the target area changes the control mode, and then the original control mode is restored. Specifically, in the emergency stop control mode, the mover travels or stops at a designated position based on the safety distance and / or maximum speed limit corresponding to the emergency stop control mode. Different areas can independently set different or the same safety distance and / or maximum speed limit. Among them, the original control mode can be a preset global control mode; the naming of the above-mentioned protection control mode is only for the convenience of description and is not a limiting feature.

[0111] In some embodiments, the safety distance may be determined based on a safety radius of the mover, a response distance of the mover, and a preset anti-collision distance.

[0112] Specifically, the safety distance can be expressed as the distance between the centers of adjacent movers or the distance between the collision edges of adjacent movers, where the collision edge is the edge portion corresponding to the collision between adjacent movers. The following is an example of the safety distance representing the distance between centers. When movers A and B move in the same direction, the calculation of the safety distance only considers the response distance of the rear mover A. The safety distance = the safety radius L1 of mover A + the response distance L2 of mover A + the safety radius L3 of mover B + the preset anti-collision distance L0.

[0113] Among them, the safety radius is used to characterize the distance between the center of the mover and the collision edge. The position of the collision edge of the mover can be determined by the mover specifications and load status. The response distance is used to characterize the maximum moving distance of the mover within the predicted response time, which can be calculated based on the current speed or maximum speed limit of the mover and the predicted response time. The predicted response time represents the longest response time of the magnetic drive motor conveying system from the beginning of detecting the current motion parameters of the mover to confirming that the mover has completed deceleration or stopping when there is a risk of collision with the mover. The predicted response time is an integer multiple of the servo cycle, that is, it includes at least one servo cycle, and the servo cycle can be calculated based on the servo frequency of the controller. The preset anti-collision spacing is used to characterize the preset minimum distance between the collision edges of adjacent movers. Regardless of the circumstances, the distance between the collision edges of adjacent movers should always be greater than or equal to the preset anti-collision spacing to meet the necessary safety requirements for running the mover movement.

[0114] Please refer to the following Figure 7 , Figure 7 A workstation control device is provided for an exemplary embodiment of the present application, and is configured in a magnetic drive motor conveying system. The magnetic drive motor conveying system includes a conveying line body formed by splicing a plurality of stators in sequence along the conveying line direction, and a mover magnetically coupled to the stator. The magnetic drive motor conveying system is provided with a plurality of workstations on the conveying line body, such as Figure 7 As shown, the station control device 700 includes:

[0115] The acquisition module 710 is used to acquire the current state information of the mover; the current state information includes the current motion parameters of the mover, and the station information corresponding to the current station and / or the next station where the mover is located;

[0116] A judgment module 720, used to judge whether the station boundary corresponding to the current station and / or the next station where the mover is located is enabled according to the current state information;

[0117] The execution module 730 is used to determine the target area where the above-mentioned mover is located according to the above-mentioned current state information, and control the above-mentioned mover to switch to the control mode corresponding to the above-mentioned target area; the above-mentioned area includes the inner boundary area and the outer boundary area corresponding to different workstations, and the above-mentioned inner boundary area and the above-mentioned outer boundary area are divided by the workstation boundary.

[0118] In some possible embodiments, the device 700 also includes: receiving input instructions; controlling the workstation boundary position and enable status corresponding to one or more workstations according to the above input instructions, and / or setting the corresponding control mode in one or more areas; wherein the corresponding workstation boundary position and enable status are set independently or in association with different workstations; and the corresponding control mode in the above areas is set independently or in association with different areas.

[0119] In some possible embodiments, the judgment module 720 is specifically used to: judge whether the mover is within the workstation range according to the current state information; if so, judge whether the workstation boundary corresponding to the current workstation is enabled; if not, judge whether the workstation boundary corresponding to the next workstation is enabled.

[0120] In some possible embodiments, the above-mentioned determination module 720 is further specifically used for: if the workstation boundary corresponding to the current workstation is disabled, determining whether the workstation boundary corresponding to the next workstation is enabled.

[0121] In some possible embodiments, the judgment module 720 is further specifically used to control the mover to maintain the current control mode if the workstation boundary corresponding to the next workstation is disabled.

[0122] In some possible embodiments, the execution module 730 is specifically used to: when the workstation boundary corresponding to the current workstation is enabled, determine the target area where the mover is located as the area within the boundary of the current workstation; when the workstation boundary corresponding to the next workstation is enabled, determine the target area where the mover is located as the area outside the boundary of the next workstation.

[0123] In some possible embodiments, the type of the above-mentioned control method includes workstation boundary protection; the above-mentioned execution module 730 is also specifically used for: when the type of control method corresponding to the above-mentioned target area is workstation boundary protection, judging whether the number of movers in the next area of ​​the above-mentioned target area has reached saturation; if saturated, controlling the above-mentioned movers to switch to the protection control method until the number of movers in the above-mentioned next area is not saturated and then restoring the original control method; under the above-mentioned protection control method, the above-mentioned movers are braked before the workstation boundary of the above-mentioned target area; if not saturated, controlling the above-mentioned movers to maintain the current control method until the above-mentioned movers leave the above-mentioned target area.

[0124] In some possible embodiments, the type of the above-mentioned control mode includes an emergency stop within a workstation range; the above-mentioned execution module 730 is also specifically used to: when the type of control mode corresponding to the above-mentioned target area is an emergency stop within a workstation range, control the above-mentioned mover to switch to the emergency stop control mode corresponding to the above-mentioned target area, until any of the above-mentioned mover leaves the above-mentioned target area, the workstation boundary of the above-mentioned target area is disabled, or the above-mentioned target area changes the control mode, and then restore the original control mode; under the above-mentioned emergency stop control mode, the above-mentioned mover drives or stops at a specified position based on the safety distance and / or maximum speed limit corresponding to the emergency stop control mode.

[0125] The division of the modules in the above-mentioned workstation control device is only for illustration. In other embodiments, the workstation control device can be divided into different modules as needed to complete all or part of the functions of the above-mentioned workstation control device. The implementation of each module in the workstation control device provided in the embodiment of the present application can be in the form of a computer program. The computer program can be run on a terminal or a server. The program modules constituted by the computer program can be stored in the memory of the terminal or the server. When the computer program is executed by the processor, all or part of the steps of the workstation control method described in the embodiment of the present application are implemented.

[0126] See also Figure 8 , Figure 8 A schematic diagram of a magnetic drive motor conveying system provided as an exemplary embodiment of the present application. The magnetic drive motor conveying system 800 includes a conveying line body formed by sequentially splicing a plurality of stators 810 along the conveying line direction, a mover 820 magnetically coupled to the stator 810, and a controller 830. The magnetic drive motor conveying system 800 is provided with a plurality of workstations on the conveying line body. The controller 830 includes: a processor 831 and a memory 832;

[0127] Among them, the processor 831 may include one or more processing cores. The processor 831 uses various interfaces and lines to connect the various parts of the entire magnetic drive motor conveying system 800, and executes various functions and processes data of the magnetic drive motor conveying system 800 by running or executing instructions, programs, code sets or instruction sets stored in the memory 832, and calling data stored in the memory 832. Optionally, the processor 831 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 831 can integrate one or a combination of a processor (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU) and a modem.

[0128] Among them, the memory 832 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 832 includes a non-transitory computer-readable medium. The memory 832 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 832 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as an acquisition function, a judgment function, an execution function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 832 may also be optionally at least one storage device located away from the aforementioned processor 831. The memory 832 as a computer storage medium may include an operating system, a network communication module, a user interface module and program instructions.

[0129] Specifically, the processor 831 may be used to call the program instructions stored in the memory 832, and specifically perform the following operations:

[0130] Acquire the current state information of the mover; the current state information includes the current motion parameters of the mover, and the workstation information corresponding to the current workstation and / or the next workstation where the mover is located; determine whether the workstation boundaries corresponding to the current workstation and / or the next workstation where the mover is located are enabled according to the current state information; if so, determine the target area where the mover is located according to the current state information, and control the mover to switch to the control mode corresponding to the target area; the area includes the inner boundary area and the outer boundary area corresponding to different workstations, and the inner boundary area and the outer boundary area are divided by the workstation boundary.

[0131] In some possible embodiments, the processor 831 further specifically performs the following steps: receiving input instructions; controlling the workstation boundary position and enable status corresponding to one or more workstations according to the input instructions, and / or setting the corresponding control mode in one or more areas; wherein the corresponding workstation boundary position and enable status are set independently or in association with different workstations; and the corresponding control mode in the above areas is set independently or in association with different areas.

[0132] In some possible embodiments, when the processor 831 determines whether the workstation boundaries corresponding to the current workstation and / or the next workstation where the mover is located are enabled according to the current state information, it also specifically executes: determining whether the mover is within the workstation range according to the current state information; if so, determining whether the workstation boundary corresponding to the current workstation is enabled; if not, determining whether the workstation boundary corresponding to the next workstation is enabled.

[0133] In some possible embodiments, after determining whether the workstation boundary corresponding to the current workstation is enabled, the processor 831 further specifically performs: if the workstation boundary corresponding to the current workstation is disabled, determining whether the workstation boundary corresponding to the next workstation is enabled.

[0134] In some possible embodiments, after determining whether the workstation boundary corresponding to the next workstation is enabled, the processor 831 further specifically performs: if the workstation boundary corresponding to the next workstation is disabled, controlling the mover to maintain the current control mode.

[0135] In some possible embodiments, when the processor 831 determines the target area where the mover is located according to the current state information, it also specifically performs: when the workstation boundary corresponding to the current workstation is enabled, the target area where the mover is located is determined to be the area within the boundary of the current workstation; when the workstation boundary corresponding to the next workstation is enabled, the target area where the mover is located is determined to be the area outside the boundary of the next workstation.

[0136] In some possible embodiments, the type of the above-mentioned control mode includes workstation boundary protection; when the above-mentioned processor 831 executes the control of the above-mentioned mover to switch to the control mode corresponding to the above-mentioned target area, it also specifically executes: when the type of control mode corresponding to the above-mentioned target area is workstation boundary protection, it is judged whether the number of movers in the next area of ​​the above-mentioned target area has reached saturation; if it is saturated, the above-mentioned mover is controlled to switch to the protection control mode until the number of movers in the above-mentioned next area is not saturated and then the original control mode is restored; under the above-mentioned protection control mode, the above-mentioned mover is braked before the workstation boundary of the above-mentioned target area; if it is not saturated, the above-mentioned mover is controlled to maintain the current control mode until the above-mentioned mover leaves the above-mentioned target area.

[0137] In some possible embodiments, the type of the above-mentioned control mode includes an emergency stop within a workstation range; when the above-mentioned processor 831 executes the control of the above-mentioned mover to switch to the control mode corresponding to the above-mentioned target area, it also specifically executes: when the type of control mode corresponding to the above-mentioned target area is an emergency stop within a workstation range, the above-mentioned mover is controlled to switch to the emergency stop control mode corresponding to the above-mentioned target area, until any of the above-mentioned mover leaves the above-mentioned target area, the workstation boundary of the above-mentioned target area is disabled, or the control mode of the above-mentioned target area is changed, and then the original control mode is restored; under the above-mentioned emergency stop control mode, the above-mentioned mover travels or stops at a specified position based on the safety distance and / or maximum speed limit corresponding to the emergency stop control mode.

[0138] The embodiment of the present application also provides a computer-readable storage medium, which stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes one or more steps in the above embodiment. If the various component modules of the above-mentioned station control device are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above-mentioned computer-readable storage medium.

[0139] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The above-mentioned computer program product includes one or more computer instructions. When the above-mentioned computer program instructions are loaded and executed on a computer, the above-mentioned process or function according to the embodiment of the present application is generated in whole or in part. The above-mentioned computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The above-mentioned computer instructions can be stored in a computer-readable storage medium or transmitted by the above-mentioned computer-readable storage medium. The above-mentioned computer instructions can be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (such as coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The above-mentioned computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrated. The above-mentioned available media can be magnetic media (for example, floppy disks, hard disks, tapes), optical media (for example, digital versatile discs (DVD)), or semiconductor media (for example, solid state disks (SSD)), etc.

[0140] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes. In the absence of conflict, the technical features in this embodiment and the implementation scheme can be combined arbitrarily.

[0141] The embodiments described above are merely descriptions of the preferred embodiments of the present application and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary technicians in this field should all fall within the scope of protection determined by the claims.

[0142] The above describes a specific embodiment of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims and the specification can be performed in an order different from the order in the embodiments recorded in the specification and still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A workstation control method, characterized in that: Applied to a magnetic drive motor conveying system, the magnetic drive motor conveying system comprises a conveying line body formed by sequentially splicing a plurality of stators along a conveying line direction, and a mover magnetically coupled with the stator. The magnetic drive motor conveying system is provided with a plurality of workstations on the conveying line body. The method comprises: Acquire current state information of the mover; the current state information includes current motion parameters of the mover, and station information corresponding to the current station and / or the next station where the mover is located; Determine whether the station boundary corresponding to the current station and / or the next station where the mover is located is enabled according to the current state information; If yes, determine the target area where the mover is located according to the current state information, and control the mover to switch to the control mode corresponding to the target area; the area includes the inner boundary area and the outer boundary area corresponding to different workstations, and the inner boundary area and the outer boundary area are divided by the workstation boundary; The determining, according to the current state information, whether a station boundary corresponding to the current station and / or the next station where the mover is located is enabled includes: Determine whether the mover is within the working position range according to the current state information; If so, determine whether the workstation boundary corresponding to the current workstation is enabled; If not, determine whether the station boundary corresponding to the next station is enabled; If so, determining the target area where the mover is located according to the current state information, and controlling the mover to switch to a control mode corresponding to the target area, including: If the workstation boundary corresponding to the current workstation is enabled, the target area where the mover is located is determined to be the area within the boundary of the current workstation, and the mover is controlled to switch to the control mode corresponding to the area within the boundary of the current workstation; If the workstation boundary corresponding to the next workstation is enabled, the target area where the mover is located is determined to be an area outside the boundary of the next workstation, and the mover is controlled to switch to a control mode corresponding to the area outside the boundary of the next workstation.

2. The workstation control method according to claim 1, characterized in that: The workstation control method further comprises: Receive input instructions; Control the workstation boundary position and enable status corresponding to one or more workstations according to the input instruction, and / or set the corresponding control mode in one or more areas; Among them, the corresponding workstation boundary positions and enabling states are set independently or in association with different workstations; and the corresponding control modes within the areas are set independently or in association with different areas.

3. The workstation control method according to claim 1, characterized in that: After determining whether the workstation boundary corresponding to the current workstation is enabled, the method includes: If the workstation boundary corresponding to the current workstation is disabled, determine whether the workstation boundary corresponding to the next workstation is enabled.

4. The workstation control method according to claim 1 or 3, characterized in that: After determining whether the workstation boundary corresponding to the next workstation is enabled, the method includes: If the workstation boundary corresponding to the next workstation is disabled, the mover is controlled to maintain the current control mode.

5. The workstation control method according to claim 1, characterized in that: The type of control method includes workstation boundary protection; the control method corresponding to controlling the mover to switch to the target area includes: When the type of control mode corresponding to the target area is workstation boundary protection, determining whether the number of movers in a next area of ​​the target area has reached saturation; If saturated, the mover is controlled to switch to a protection control mode until the number of movers in the next area is unsaturated and then the original control mode is restored; in the protection control mode, the mover is braked before the station boundary of the target area; If it is not saturated, the mover is controlled to keep the current control mode and leave the target area.

6. The workstation control method according to claim 1, characterized in that: The type of control mode includes emergency stop within the workstation range; the control mode corresponding to controlling the mover to switch to the target area includes: When the type of control mode corresponding to the target area is an emergency stop within the workstation range, the mover is controlled to switch to the emergency stop control mode corresponding to the target area until the mover leaves the target area, the workstation boundary of the target area is disabled, or the control mode of the target area is changed, and then the original control mode is restored; in the emergency stop control mode, the mover travels or stops at a specified position based on the safety distance and / or maximum speed limit corresponding to the emergency stop control mode.

7. A workstation control device, characterized in that: The device is configured in a magnetic drive motor conveying system, wherein the magnetic drive motor conveying system comprises a conveying line body formed by sequentially splicing a plurality of stators along the conveying line direction and a mover magnetically coupled to the stator, and the magnetic drive motor conveying system is provided with a plurality of workstations on the conveying line body. The device comprises: An acquisition module, used to acquire current state information of the mover; the current state information includes current motion parameters of the mover, and station information corresponding to the current station and / or the next station where the mover is located; A judgment module, used for judging whether the station boundary corresponding to the current station and / or the next station where the mover is located is enabled according to the current state information; An execution module, for determining the target area where the mover is located according to the current state information, and controlling the mover to switch to a control mode corresponding to the target area; the area includes an inner boundary area and an outer boundary area corresponding to different workstations, and the inner boundary area and the outer boundary area are divided by the workstation boundary; The judgment module is specifically used to judge whether the mover is within the working position range according to the current state information; If so, determine whether the workstation boundary corresponding to the current workstation is enabled; If not, determine whether the station boundary corresponding to the next station is enabled; The execution module is specifically used to determine that the target area where the mover is located is the area within the boundary of the current workstation if the workstation boundary corresponding to the current workstation is enabled, and control the mover to switch to the control mode corresponding to the area within the boundary of the current workstation; If the workstation boundary corresponding to the next workstation is enabled, the target area where the mover is located is determined to be an area outside the boundary of the next workstation, and the mover is controlled to switch to a control mode corresponding to the area outside the boundary of the next workstation.

8. A magnetic drive motor conveying system, characterized in that: The magnetically driven motor conveying system comprises a conveying line body formed by a plurality of stators sequentially spliced ​​along the conveying line direction, a mover magnetically coupled to the stator, and a controller, wherein the magnetically driven motor conveying system is provided with a plurality of workstations on the conveying line body; the controller comprises: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the method steps as claimed in any one of claims 1 to 6.

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