Linear motor control method and device, storage medium and electronic device

Abstract

The application discloses a linear motor control method and device, a storage medium and an electronic device. The method comprises the following steps: monitoring the position of a moving component; and sending the position monitoring information of the moving component, which is set to track the moving component, to an operation device, wherein the operation device is used for performing a processing operation related to the tracking of the moving component based on the received position monitoring information. The application solves the technical problem of low production efficiency.

Description

Technical Field

[0001] This application relates to the field of industrial conveying technology, and more specifically, to a linear motor control method and apparatus, a storage medium, and an electronic device. Background Technology

[0002] Currently, in automated production scenarios, transmission and conveying equipment (such as belt conveyors, chain conveyors, etc.) are typically used for transporting objects.

[0003] However, transmission and conveying equipment operates through transmission, which has problems such as slow conveying speed, poor operating accuracy, and the fact that the conveyed objects can only move synchronously, affecting conveying efficiency and thus leading to low production efficiency.

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

[0005] This application provides a linear motor control method and apparatus, a storage medium, and an electronic device to at least solve the technical problem of low production efficiency caused by using transmission and conveying equipment in production in related technologies.

[0006] According to one aspect of the embodiments of this application, a linear motor control method is provided. The linear motor includes a track component and a moving component. The track component is used to drive the moving component via magnetic coupling, and the moving component is used to move along the track component. The method includes: monitoring the position of the moving component; sending position monitoring information of the moving component, which is configured to track the moving component, to an operating device, wherein the operating device is used to perform processing operations related to tracking the moving component based on the received position monitoring information.

[0007] According to another aspect of the embodiments of this application, a linear motor control device is also provided, including: a track assembly; a moving component driven by the track assembly through magnetic coupling and moving along the track assembly; and a position monitoring device for monitoring the position of the moving component and sending the position monitoring information of the moving component configured to track the moving component to an operating device, wherein the operating device is used to perform processing operations related to tracking the moving component based on the received position monitoring information.

[0008] According to another aspect of the embodiments of this application, a conveying system is also provided, including: a linear motor, the linear motor including a track assembly and a moving assembly, the moving assembly being used to move along the track assembly; a linear motor control device, used to control the track assembly to drive the moving assembly through magnetic coupling, and to monitor the position of the moving assembly, and to send the position monitoring information of the moving assembly set to track the moving assembly to an operating device; an operating device, used to perform related processing operations on the tracking moving assembly based on the received position monitoring information.

[0009] According to another aspect of the embodiments of this application, a linear motor control device is also provided. The linear motor includes a track assembly and a moving assembly. The track assembly is used to drive the moving assembly via magnetic coupling. The moving assembly is used to move along the track assembly. The device includes: a position monitoring unit for monitoring the position of the moving assembly; and a sending unit for sending position monitoring information of the moving assembly configured to track the moving assembly to an operating device. The operating device is used to perform processing operations related to tracking the moving assembly 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, wherein a computer program is stored in the computer program, and the computer program is configured to execute a linear motor control method at runtime.

[0011] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to execute a linear motor control method through the computer program.

[0012] The linear motor control scheme provided in this application utilizes a linear motor where the track component drives the moving component along the track component via magnetic coupling. This results in low friction between the track component and the moving component, allowing for faster movement of the moving component. Furthermore, each moving component can be independently controlled with high precision, and multiple moving components can be controlled synchronously or asynchronously as needed, thus improving conveying flexibility. Therefore, using a linear motor for conveying in this application enhances both conveying efficiency and flexibility. Further, the linear motor control scheme monitors the position of the moving component and sends this position monitoring information to the operating equipment. This allows the operating equipment to promptly execute processing operations related to tracking the moving component based on the received position monitoring information, thereby improving the operating equipment's processing efficiency for tracking the moving component. In summary, the linear motor control scheme provided in this application improves production efficiency. Attached Figure Description

[0013] 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:

[0014] Figure 1 This is a flowchart of an optional linear motor control method according to an embodiment of this application;

[0015] Figure 2 This is a schematic diagram of an optional linear motor control method according to an embodiment of this application;

[0016] Figure 3 This is a schematic diagram of an optional linear motor control method according to an embodiment of this application;

[0017] Figure 4 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0018] Figure 5 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0019] Figure 6 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0020] Figure 7 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0021] Figure 8 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0022] Figure 9 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0023] Figure 10 is A schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0024] Figure 11 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0025] Figure 12 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0026] Figure 13 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0027] Figure 14 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0028] Figure 15 This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0029] Figure 16This is a schematic diagram of another optional linear motor control method according to an embodiment of this application;

[0030] Figure 17 This is a schematic diagram of an optional linear motor control device according to an embodiment of this application;

[0031] Figure 18 This is a schematic diagram of the structure of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0032] 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.

[0033] It should be noted that the terms "first," "second," etc., used 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.

[0034] According to one aspect of the embodiments of this application, a linear motor control method is provided, applied to a linear motor control device. As an optional implementation, such as... Figure 1 As shown, the specific steps of the method may include:

[0035] S102, perform position monitoring on the moving component;

[0036] S104, the position monitoring information of the mobile component that is set to track the mobile component is sent to the operating device, wherein the operating device is used to perform processing operations related to tracking the mobile component based on the received position monitoring information.

[0037] It should be noted that linear motor control methods can be applied, but are not limited to, automated production scenarios to control linear motors. A linear motor consists of a track assembly and a moving assembly. The track assembly drives the moving assembly via magnetic coupling, causing the moving assembly to move along the track assembly.

[0038] In practical applications, one of the track assembly and the moving assembly is equipped with an excitation component, which generates a variable magnetic field when energized. The other of the track assembly and the moving assembly is equipped with a magnetic component, which interacts with the variable magnetic field generated by the energized excitation component to produce an electromagnetic force acting on the moving assembly, thereby driving the moving assembly to move along the track assembly. The excitation component can be understood as a component based on coils, such as armature windings, while the magnetic component can be understood as a component that possesses a magnetic field, such as a permanent magnet.

[0039] It should be noted 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.

[0040] For example, such as Figure 2 The diagram shown is an example of a linear motor. The linear motor may include a track assembly 202 and a moving assembly 204, wherein the track assembly 202 may include armature windings. Figure 2 (Not shown in the image), the moving component 204 may include a permanent magnet, which, when the armature winding is energized, generates a variable magnetic field that interacts with the permanent magnet of the moving component 204. Figure 2 The interaction between the components (not shown in the image) generates an electromagnetic force acting on the moving component 204, thereby causing the moving component 204 to move along the track component 202.

[0041] It should be noted that Figure 2 This is an optional example provided to illustrate the structure of a linear motor, and there is no limitation on the specific structure of the linear motor described in this application.

[0042] Optionally, in some embodiments, position monitoring of the moving component may include, but is not limited to: measuring the position of the moving component through a position measurement module to obtain position measurement information of the moving component, and monitoring the movement of the moving component based on the position measurement information of the moving component, thereby realizing position monitoring of the moving component.

[0043] The position measurement module can be, but is not limited to, various modules capable of measuring the position of an object, 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. This application does not impose any limitations on these components.

[0044] It should be noted that, on the one hand, in some embodiments, when monitoring the position of a moving component, the position measurement module can determine the position of the moving component in a coordinate system established based on the track component, or it can determine the position of the moving component in a coordinate system established based on other reference points. No limitation is made in this embodiment. On the other hand, in some embodiments, depending on the measurement type of the position measurement module, the position measurement information of the moving component can characterize the absolute position or relative position of the moving component. The absolute position of the moving component can be understood as its position in the actual scene, and the relative position of the moving component can be understood as the displacement of the moving component within one measurement cycle of the position measurement module. For example, when the position measurement module includes an absolute encoder, the position measurement information can characterize the absolute position; when the position measurement module includes an incremental encoder, the position measurement information can characterize the relative position.

[0045] Optionally, in some embodiments, the location monitoring information can be understood as information obtained by monitoring the movement of the mobile component based on the location measurement information of the mobile component. The tracking mobile component can be understood as the mobile component whose movement needs to be tracked; in other words, the tracking mobile component can be understood as the mobile component that is the object of movement tracking. The number of mobile components can be one or more. When there is only one mobile component, it is determined whether that mobile component is to be tracked; when there are multiple mobile components, the mobile component to be tracked is determined from among the multiple mobile components, thereby completing the setting of the tracking mobile component.

[0046] After the tracking motion component is set up, the position monitoring information of the tracking motion component is sent to the operating device. This allows the operating device to keep track of the movement of the tracking motion component in a timely manner. Based on the movement of the motion component, the operating device can determine the timing of the processing operation, and even the timing of the execution of each step in the processing operation.

[0047] The location monitoring information can be represented using digital signals, but is not limited to this. Specifically, the location monitoring information is sent to the operating device via digital signals. These digital signals can include, but are not limited to, square wave signals, level signals, pulse signals, or other types of signals. This is not limited in the embodiments of this application.

[0048] It should be noted that, in some embodiments, the operating device may be, but is not limited to, a device 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 device may be an assembly device, an inspection device, a handling device, etc. This application does not impose any limitations on these aspects.

[0049] The linear motor control method provided in this application utilizes a linear motor where the track component drives the moving component along the track component via magnetic coupling. This results in low friction between the track component and the moving component, allowing for faster movement of the moving component. Furthermore, each moving component can be independently controlled with high precision, and multiple moving components can be controlled synchronously or asynchronously as needed, thus improving the flexibility of the conveying process. Therefore, using a linear motor for conveying in this application improves both conveying efficiency and flexibility. Further, the linear motor control method monitors the position of the moving component and sends this position monitoring information to the operating equipment. This allows the operating equipment to promptly execute processing operations related to tracking the moving component based on the received position monitoring information, thereby improving the operating equipment's processing efficiency for tracking the moving component. In summary, the linear motor method provided in this application can improve production efficiency.

[0050] Optionally, as an alternative approach, before sending the location monitoring information of the mobile component for tracking to the operating device, the tracking mobile component can be determined from the mobile component using at least one of the following methods:

[0051] Method 1: Based on tracking identifier information, set the mobile component that matches the tracking identifier information as the tracking mobile component;

[0052] Method 2: Based on the tracking location point, set the mobile component that is bound to the tracking location point as the tracking mobile component, and the tracking location point is set based on the operating device.

[0053] The linear motor control method provided in this application, on the one hand, sets the tracking moving component by tracking identification information. The moving component is directly associated with the operating device, and the tracking moving component remains unchanged when the tracking identification information does not change. Therefore, after determining the tracking moving component, the operating device can obtain the position monitoring information of the same moving component, improving the stability of information transmission. On the other hand, by setting the moving components bound to the tracking position point as tracking moving components based on the tracking position point, the tracking position point is directly associated with the operating device, while the moving component has an indirect association with the operating device depending on whether it is bound to the tracking position point. This makes the association between the moving component and the operating device more flexible, and the operating device can obtain the position monitoring information of different moving components, improving the flexibility of information transmission.

[0054] To facilitate understanding by technical personnel, the following is an illustrative description of the implementation methods related to tracking identification information.

[0055] Optionally, in some embodiments, tracking identification information may be associated with an operating device, but not limited to, and the moving component indicated by the tracking identification information may be identified as a tracking moving component associated with the operating device.

[0056] It should be noted that, in some embodiments, each mobile component in the mobile component is configured with unique and identifiable component identification information. Setting the mobile component that matches the tracking identification information as the tracking mobile component may include, but is not limited to, matching the component identification information of the mobile component with the tracking identification information and setting the matched mobile component as the tracking mobile component. The tracking identification information may be predetermined based on production requirements.

[0057] In some embodiments, when multiple moving components exist, each tracking identification information can indicate the component identification information of one or more tracking moving components. For example, if a tracking identification information is generated based on a component identification information, then by matching the tracking identification information with the component identification information of each moving component, a corresponding moving component can be identified as the tracking moving component. As another example, if a tracking identification information is generated based on multiple component identification information, then by matching the tracking identification information with the component identification information of each moving component, multiple corresponding moving components can be identified as the tracking moving components.

[0058] It is understandable that, in the case where a tracking identifier is generated based on a component identifier, the number of tracking identifiers can be one or more, thereby allowing one or more tracking motion components to be set.

[0059] In the case where a tracking identification information is generated based on multiple component identification information, the multiple component identification information may include at least one of the following situations: at least some of the component identification information is ordered in a continuous manner; at least some of the component identification information is ordered in a discontinuous manner.

[0060] Understandably, in order to reduce the length of tracking information, tracking information can be presented in any of the following formats:

[0061] 1) The tracking identification information may include component identification start information and total identification quantity information. The component identification start information is used to represent the starting component identification information, and the total identification quantity information is used to represent the total number of component identification information. Through the component identification start information and the total identification quantity information, one or more consecutive component identification information starting with the starting component identification information can be identified.

[0062] 2) The tracking identification information may include component identification start information and identification remaining quantity information. The identification remaining quantity information is used to represent the number of identifications other than the initial component identification information. Through the component identification start information and identification remaining quantity information, one or more consecutive component identification information starting from the initial component identification information can be identified.

[0063] 3) The tracking identification information may include component identification start information and component identification end information. The component identification start information is used to represent the starting component identification information, and the component identification end information is used to represent the ending component identification information. Through the component identification start information and the component identification end information, a series of consecutive component identification information starting with the starting component identification information and ending with the ending component identification information can be identified.

[0064] Therefore, the tracking identification information does not need to include the component identification information of all tracking moving components, thereby reducing the information length and ensuring that the tracking identification information accurately indicates the component identification information of one or more tracking moving components.

[0065] Furthermore, multiple component identification start information can be used to characterize multiple starting component identification information, thereby obtaining one or more consecutive component identification information with each starting component identification information as the head, based on the representation of the tracking identification information.

[0066] The following is an illustrative explanation of the component identification information indicating a tracking moving component. For example, a linear motor includes moving components A1, A2, and A3. The component identification information of moving components A1, A2, and A3 are component identifiers a1, a2, and a3, respectively. Assuming that the tracking identification information is generated based on component identifier a, it is matched with the component identification information of moving components A1, A2, and A3. Moving component A1, whose component identification information is component identifier a1, is then set as the tracking moving component. The position monitoring information of the tracking moving component A1 is then sent to the operating device, allowing the operating device to use this information to determine whether to perform a processing operation on the tracking moving component A1. Specifically, this includes determining whether to perform a processing operation or the specific steps involved in performing such an operation.

[0067] The following is an illustrative explanation of the component identification information that indicates multiple tracking motion components.

[0068] For example, a linear motor includes moving components B1, B2, B3, and B4. The component identification information of moving components B1, B2, B3, and B4 are component identifiers b1, b2, b3, and b4, respectively. Assuming that the tracking identification information is generated based on component identifiers b2 and b3, the tracking identification information is matched with the component identification information of moving components B1 to B4. Thus, moving components B2 and B3, whose component identification information is component identifiers b2 and b3, are respectively set as tracking moving components. The position monitoring information of tracking moving components B2 and B3 is then sent to the operating device, so that the operating device uses the position monitoring information of tracking moving components B2 and B3 to determine whether to perform a processing operation on at least one of the tracking moving components B2 and B3. Specifically, this includes determining whether to perform a processing operation or the specific steps for determining whether to perform a processing operation.

[0069] For example, a linear motor includes moving components C1, C2, C3, C4, and C5. The component identification information for moving components C1, C2, C3, C4, and C5 are component identifiers c1, c2, c3, c4, and c5, respectively. Assuming the tracking identification information includes identification start information and remaining identification quantity information, where the identification start information is generated based on component identifier c1 and the remaining identification quantity information is 2, then based on the tracking identification information, a comparison is made with the component identification information of moving components C1, C2, C3, C4, and C5. Matching is performed to set the mobile component C1 with component identifier c1 and the two mobile components with component identifier c1 after it, namely, mobile component C2 and mobile component C3, as tracking mobile components. The position monitoring information of tracking mobile components C1, C2 and C3 is then sent to the operating device, so that the operating device uses the position monitoring information of tracking mobile components C1, C2 and C3 to determine whether to perform a processing operation on at least one of the tracking mobile components C1, C2 and C3. Specifically, this includes determining whether to perform a processing operation or the specific steps for determining whether to perform a processing operation.

[0070] It should be noted that the example is an optional example provided to illustrate the linear motor control method, and there are no limitations on the specific implementation of the linear motor control method.

[0071] To facilitate understanding by technical personnel, the following illustrative description of the implementation methods related to tracking location points will be provided.

[0072] Optionally, in some embodiments, but not limited to, associated tracking location points can be set for each operating device. After a moving component is bound to a tracking location point, it is identified as a tracking moving component. Thus, the tracking location point acts as an intermediary, indirectly associating a specific moving component (i.e., a moving component bound to a tracking location point) with an operating device. It is understood that, depending on the actual method of establishing the binding between the moving component and the tracking location point, a moving component can be bound to one tracking location point or multiple tracking location points; this is not limited in any way in the embodiments.

[0073] It should be noted that in some embodiments, each tracking location point is configured with a unique location point identifier. The location point identifiers of each tracking location point can be continuous or non-continuous, and this embodiment does not limit this.

[0074] Optionally, in some embodiments, when there are multiple operating devices, it is possible, but not limited to, setting sequentially ordered position point identifiers for each tracking position point corresponding to each operating device, and / or, the order of position point identifiers between tracking position points corresponding to different operating devices is not sequential.

[0075] It is understandable that each operating device and its corresponding tracking location point can be associated through software settings and / or hardware connection.

[0076] For example, to establish a logical association between the operating device and the tracking location point, specifically, the device identifier of the operating device can be written into the storage area allocated to the tracking location point for recording location point status information, thereby establishing a logical association between the operating device and the tracking location point; or, the location point identifier of the tracking location point can be written into the storage area allocated to the operating device for recording device status information, thereby establishing a logical association between the operating device and the tracking location point; or, the location point identifier of the tracking location point and the device identifier of the operating device can be written into the storage area for recording binding status information, thereby establishing a logical association between the operating device and the tracking location point.

[0077] For example, an electrical connection is established between the operating device and the interface used to output information related to the tracking location point, thereby establishing a physical association between the operating device and the tracking location point.

[0078] As an optional implementation, tracking location points can be set based on the relevant operation process of the operating device, including but not limited to multiple stages such as a preparation stage, an operation processing stage, and an operation termination stage. The operating device can execute corresponding operation steps of the processing operation at each stage, such as a preparation operation step, a processing operation step, or an operation termination step.

[0079] For example, tracking position points can be set according to the preparation operation steps corresponding to the operation preparation phase of the operating device. As another example, tracking position points can be set according to the processing operation steps corresponding to the operation processing phase of the operating device.

[0080] Optionally, the tracking position point can be set according to the expected position of the moving component when the operating device performs the corresponding operation step. For example, if the moving component is stationary when the operating device performs the corresponding operation step, i.e., the speed of the moving component is zero, the tracking position point can be set at the expected position of the moving component when the operating device performs the corresponding operation step. After the moving component is bound to the tracking position point, it outputs the position monitoring information of the bound moving component (i.e., the tracking moving component) to the operating device. As another example, if the moving component moves when the operating device performs the corresponding operation step, i.e., the speed of the moving component is not zero, the tracking position point can be set before the expected position of the moving component when the operating device performs the corresponding operation step. The moving component arrives at the expected position after being bound to the tracking position point, thereby providing a buffer time for the operating device to obtain the position monitoring information of the tracking moving component, and thus improving the accuracy of the operating device in performing the processing operation.

[0081] For example, such as Figure 3 As shown in Figure a, assuming the moving component 302 moves from left to right along the track component 306, the expected position of the moving component when the operating device 304 performs the preparation operation step is P1. If the moving component is stationary at the expected position P1 to wait for the operating device to perform the corresponding operation step, the tracking position point pa associated with the operating device is set at the expected position point P1. If the moving component moves at the expected position P1 to cooperate with the operating device to perform the corresponding operation step, the tracking position point pb associated with the operating device can be set beforehand. After the moving component is bound to the tracking position point pb, it arrives at the expected position P1. The operating device performs the corresponding operation step according to the position monitoring information of the tracking moving component, thereby completing the processing operation related to the moving component 302 bound to the tracking position point.

[0082] It is understood that a processing operation may have one or more operation steps. In some cases, at least some operation steps in the processing operation may each be assigned a tracking position point. For example, when the expected positions of the moving components corresponding to each operation step in the processing operation are different, each operation step may be assigned a tracking position point. In other cases, at least some operation steps in the processing operation may be assigned the same tracking position point. For the remaining operation steps that are not assigned tracking position points, the operating device may execute the corresponding operation steps based on the position monitoring information of the moving components. For example, when the expected positions of the moving components corresponding to some operation steps in the processing operation are the same, these operation steps may be assigned the same tracking position point, while the remaining operation steps may determine the timing of execution based on the position monitoring information of the moving components.

[0083] As another optional implementation, tracking position points can be set based on the operating area of ​​the operating device, but are not limited to. For example, if the operating device performs an operation step after the moving component enters the operating area, the tracking position point can be set at the starting boundary of the operating area to coordinate with the operation device in performing the corresponding operation step. Alternatively, if the operating device begins performing an operation step when the moving component reaches the boundary of the operating area, the tracking position point can be set before the starting boundary of the operating area. The moving component arrives at the operating area after binding to this tracking position point, thus providing a buffer time for the operating device to obtain position monitoring information of the moving component, thereby improving the accuracy of the processing operation performed by the operating device. The starting boundary of the operating area is determined according to the movement direction of the moving component.

[0084] For example, such as Figure 3 As shown in Figure b, assuming the moving component 312 moves from left to right along the track component 310, and the starting boundary position of the operating area of ​​the operating device 308 is Q1, if the moving component remains stationary at the starting boundary position Q1 to wait for the operating device to execute the corresponding operation steps, then the tracking position point qa associated with the operating device is set at the starting boundary position Q1. After the moving component arrives at the starting boundary position Q1 and binds to the tracking position point qa, the operating device executes the corresponding operation steps according to the position monitoring information of the tracking moving component, thereby completing the processing operation related to the moving component 312 bound to the tracking position point. If the moving component moves to the expected position Q1 to cooperate with the operating device to execute the corresponding operation steps, the tracking position point qb associated with the operating device can be set beforehand. After the moving component binds to the tracking position point qb and then arrives at the expected position Q1, the operating device executes the corresponding operation steps according to the position monitoring information of the tracking moving component, thereby completing the processing operation related to the moving component 312 bound to the tracking position point.

[0085] It should be noted that the example is an optional example provided to illustrate the linear motor control method, and there are no limitations on the specific implementation of the linear motor control method.

[0086] It should be noted that after the operating device completes the processing operation, it can, but is not limited to, set the tracking motion component to be unbound from the tracking location point and stop sending the location monitoring information of the unbound motion component to the operating device, thereby severing the indirect association between the unbound motion component and the operating device.

[0087] It should also be noted that when the tracking position point is set at the expected position of the moving component when the operating device performs the corresponding operation step, the tracking moving component leaving the tracking position point does not mean that the operating device has completed the processing operation. That is, after the operating device completes the operation step corresponding to the tracking position point, it may need to perform other operation steps.

[0088] It is understandable that the timing of binding and unbinding the tracking motion component to the tracking location point is related to the processing operation of the operating device. For details, please refer to the relevant sections below, which will not be repeated here.

[0089] It is also understood that, depending on the actual situation, a tracking location point can be bound to one or more moving components simultaneously. For example, if the operating device performs processing operations on each moving component sequentially, then a tracking location point is bound to one moving component; or, for example, if the operating device can perform processing operations on multiple moving components simultaneously, then a tracking location point can be bound to multiple moving components simultaneously. This application does not impose such limitations in its embodiments.

[0090] As described in the relevant description, the position monitoring information can be obtained by monitoring the movement of the moving component based on its position measurement information. As an optional solution, sending the position monitoring information of the moving component to the operating device can include at least one of the following:

[0091] The real-time location information of the tracking moving component is sent to the operating device, wherein the real-time location information is used to characterize the actual location of the tracking moving component;

[0092] The location status information of the tracking mobile component is sent to the operating device, wherein the location status information is used to characterize the location status of the tracking mobile component determined by the operating device.

[0093] By employing the linear motor control method provided in this application, and by sending the real-time position information of the tracking moving component to the operating device and / or sending the position status information to the operating device, the operating device can promptly perform corresponding processing operations based on the diverse position information related to the tracking moving component, thereby achieving the technical effect of improving production efficiency.

[0094] Optionally, in some embodiments, location information can be represented based on digital signals, but is not limited to, transmitting the location information to the operating device via digital signals. These digital signals can include, but are not limited to, square wave signals, level signals, pulse signals, or other types of signals. This application does not impose such limitations.

[0095] Optionally, the location information can be obtained from location measurement information. For example, the location measurement information can be sent to the operating device as location information, wherein, depending on the type of location measurement information, the location information can represent either absolute or relative position. Alternatively, the location information can be obtained by processing the location measurement information, wherein the processing may include, but is not limited to, signal conversion processing and / or information conversion processing.

[0096] The signal conversion processing can be understood as generating location information with different signal representation methods based on location measurement information. In other words, the meanings represented by location measurement information and location information can be the same, but they use different signal representation methods. For example, location measurement information can be represented by analog signals, while location information can be represented by digital signals; or location measurement information can be represented by one type of digital signal, while location information can be represented by another type of digital signal. This is not limited in the embodiments of this application.

[0097] Information conversion processing can be understood as follows: based on location measurement information, real-time location information with different representations is obtained. For example, location measurement information represents absolute position, and based on two adjacent location measurement information, real-time location information representing relative position can be obtained; or, location measurement information represents relative position, and based on the accumulation of historical location measurement information, real-time location information representing absolute position can be obtained. This is not limited in the embodiments of this application.

[0098] It should be noted that the transmission frequency of the location information matches the measurement frequency of the location information, and the transmission frequency of the location information to the operating device matches the processing operation performed by the operating device.

[0099] Optionally, when using pulse signals to represent location information, a frame of location information can be represented by the number of pulses, the pulse interval, or the pulse width.

[0100] For example, such as Figure 4 As shown, a corresponding operating position point 4-a is set along the track assembly 406. When the tracking moving assembly 402 reaches the operating position point 4-a, the digital signal 404 output to the operating device changes from low level to high level. Then, when the tracking moving assembly 402 leaves the position point 4-a, the digital signal 404 output to the operating device changes from high level to low level.

[0101] For example, such as Figure 5As shown, corresponding operating position points 5-a and 5-b are set along the track assembly 508. During the process of tracking the moving component 502 from operating position point 5-a to operating position point 5-b, the position monitoring information of the tracking moving component 502 sent to the operating device can be referenced. Figure 5 The digital signal 504 output from position point 5-a and the digital signal 506 output from position point 5-b are shown. Specifically, when the tracking moving component 502 reaches the operating position point 5-a, the digital signal 504 output to the operating device at position point 5-a changes from a low level to a high level. Then, when the tracking moving component 502 leaves position point 5-a, the digital signal 504 output to the operating device at position point 5-a changes from a high level to a low level, and so on. The changes in the digital signal 506 at position point 5-b when the tracking moving component 502 reaches and leaves position point 5-b can be obtained.

[0102] For example, see references such as Figure 6 Different numbers of pulses can be used to represent real-time positional information in different frames. Specifically, such as... Figure 6 As shown, the position information of the tracking motion component 602 at time ta and the position information of the tracking motion component 602 at time tb are represented by different numbers of pulses.

[0103] Optionally, the position status information may be determined based on the position measurement information of the tracking moving component and the operation position point set for the processing operation of the operating device.

[0104] Specifically, in some embodiments, based on the operation steps of the operation device to perform the processing operation, corresponding operation position points can be set along the track component. According to the position measurement information of the tracking moving component and the operation position points, the position state of the tracking moving component relative to the operation steps of the corresponding operation device can be obtained. The position state can include at least one of the position point arrival state and the position point departure state. The position point arrival state is used to indicate that the tracking moving component has arrived at the operation position point, and the position point departure state is used to indicate that the tracking moving component has left the operation position point.

[0105] Optionally, but not limited to, the arrival and departure states of a location point can be represented by digital signals; this is not limited in this embodiment. For example, the arrival and departure states of the same operational location point can be represented by a trigger signal with a variable level.

[0106] In other embodiments, based on the boundary of the operating area where the operating device performs processing operations, corresponding operating position points can be set along the track component. According to the position measurement information of the tracking moving component and the operating position points, the position state of the tracking moving component relative to the operating area of ​​the corresponding operating device can be obtained. The position state can include at least one of a position point arrival state and a position point departure state. The position point arrival state is used to indicate that the tracking moving component has arrived at the operating position point, and the position point departure state is used to indicate that the tracking moving component has left the operating position point.

[0107] Furthermore, the arrival and departure states of a location point can be represented based on digital signals, but this is not limited to the present embodiment. For example, the arrival and departure states of a location point corresponding to the same operating location point can be represented by changing the level of the digital signal. For example, the arrival and departure states of a location point corresponding to one operating location point and the departure states of a location point corresponding to another operating location point can be represented by changing the level of the digital signal, thereby determining whether the tracking moving component enters or leaves the operating area by combining the changes in the level of the digital signal.

[0108] It should be noted that, in some embodiments, when sending position monitoring information for tracking moving components to the operating device, if the position monitoring information includes real-time position information and position status information, the real-time position information and position status information can be represented by different digital signals respectively. For example, a pulse signal can be used to represent the real-time position information, and a trigger signal can be used to represent the position status information. In this case, the position monitoring information sent to the operating device is simultaneously represented by a pulse signal and a trigger signal.

[0109] As an optional example, such as Figure 7 As shown, corresponding operating position points 7-a and 7-b are set along the track assembly 708. During the process of tracking the moving component 702 moving from operating position point 7-a to operating position point 7-b, the position monitoring information of the tracking moving component 702 sent to the operating device can be referenced. Figure 7 The digital signals 704 and 706 are shown. Specifically, on the one hand, when the tracking moving component 702 reaches the operating position point 7-a, the digital signal 704 output to the operating device changes from a low level to a high level. Then, when the tracking moving component 702 leaves the position point 7-a, the digital signal 704 output to the operating device changes from a high level to a low level, and so on. This allows us to obtain the changes in the digital signal 704 when the tracking moving component 702 reaches and leaves the position point 7-b. On the other hand, during the movement of the tracking moving component 702, the pulse-shaped digital signal 706 is continuously output to the operating device.

[0110] As another alternative example, such as Figure 8 As shown, corresponding operating position points 8-a and 8-b are set along the track assembly 808. During the process of tracking the moving component 802 from operating position point 8-a to operating position point 8-b, the position monitoring information of the tracking moving component 802 sent to the operating device can be referenced. Figure 8 The digital signals 804 and 806 are shown. Specifically, on the one hand, when the tracking moving component 802 reaches the operating position point 8-a, the digital signal 804 output to the operating device changes from a low level to a high level. When the tracking moving component 802 moves between operating position point 8-a and operating position point 8-b, the digital signal 804 output to the operating device remains high. Then, when the tracking moving component 802 leaves position point 8-b, the digital signal 804 output to the operating device changes from a high level to a low level. On the other hand, during the movement of the tracking moving component 802, the pulse-shaped digital signal 806 is continuously output to the operating device.

[0111] It should be noted that the example is an optional example provided to illustrate the linear motor control method, and there are no limitations on the specific implementation of the linear motor control method.

[0112] Optionally, as an alternative approach, based on the tracking location point, the motion component bound to the tracking location point is set as a tracking motion component, including:

[0113] Based on the position measurement information of the moving component, determine the moving component that determines whether the positional relationship between the moving component and the tracking position point meets the binding conditions;

[0114] Set the mobile component that meets the binding conditions as the tracking mobile component.

[0115] Optionally, in this embodiment, the binding conditions can be determined based on the distance between the moving component and the tracking location point, or the status information of the moving component.

[0116] By using the linear motor control method provided in this application, the moving components that meet the binding conditions are set to track the moving components, thereby flexibly determining the moving components related to the operating device. In this way, the position monitoring information of the moving components related to the operating device is sent to the operating device instead of sending the position monitoring information of all moving components to the operating device, thereby reducing the system overhead.

[0117] Optionally, as an alternative approach, based on the position measurement information of the moving component, it is determined whether the moving component meets the binding conditions, including at least one of the following:

[0118] Based on the position measurement information of the moving component, determine whether the distance between the moving component and the tracking position point is less than a preset distance threshold;

[0119] Based on the position measurement information of the moving component, it is determined whether the state information of the moving component closest to the tracking position point matches the preset target state. The target state includes: target component identification information, and / or, the motion mode of the moving component.

[0120] It should be noted that in some cases, location measurement information can be sent to the operating device as real-time location information, but this embodiment does not limit this.

[0121] Optionally, in some embodiments, the distance between the moving component and the tracking location point can be determined based on the relationship between the marker points set on the moving component indicated in the location measurement information, or the projection points of the moving component, and the tracking moving location point.

[0122] Optionally, the difference between the identification information of adjacent target components can be a predetermined difference. For example, a linear motor includes moving components D1, D2, D3, D4, D5, and D6, and the component identification information of moving components D1, D2, D3, D4, D5, and D6 are 1, 2, 3, 4, 5, and 6, respectively. Assuming the predetermined difference is 2, the identification information of the target components can include 1, 3, 5 or 2, 4, 6.

[0123] It should be noted that the motion mode of the moving component may include, but is not limited to, an active motion mode and a driven motion mode. By employing the linear motor control method provided in this application, the moving component that meets the tracking object conditions is set to a tracking mode, thus flexibly determining the moving component related to the operating device. This allows the position monitoring information of the moving component related to the operating device to be sent to the operating device, rather than sending the position monitoring information of all moving components, thereby reducing system overhead.

[0124] Optionally, as an alternative approach, after setting the motion component bound to the tracking location point as a tracking motion component based on the tracking location point, the method further includes:

[0125] Based on the location measurement information of the tracking location point and the moving component, it is determined that the tracking moving component is unbound from the tracking location point.

[0126] It should be noted that, in some embodiments, the tracking mobile component that needs to be unbound based on the tracking location point and the position measurement information of the mobile component may be, but is not limited to, a mobile component that is unrelated to the operation that the operating device needs to perform at the tracking location point. This is not limited in the embodiments.

[0127] Optionally, the moving component here can be a tracking moving component, or a moving component other than a tracking moving component; this embodiment does not limit this.

[0128] It should be noted that, in this embodiment, the unbinding of the tracking mobile component from the tracking position point can be determined based on the distance between the tracking position point and the mobile component determined by the position measurement information of the tracking position point and the mobile component; the unbinding of the tracking mobile component from the tracking position point can also be determined based on the number of mobile components bound to the tracking position point determined by the position measurement information of the tracking position point and the mobile component; and the unbinding of the tracking mobile component from the tracking position point can also be determined based on the binding status between the tracking position point and the mobile component determined by the position measurement information of the tracking position point and the mobile component.

[0129] The linear motor control method provided in this application determines the method for unbinding the tracking moving component from the tracking position point based on the position measurement information of the tracking position point and the moving component. This flexibly removes the binding relationship between the moving component and the tracking position point that is unrelated to the operation required by the operating device at the tracking position point, thereby reducing the overhead required for storing the moving component and tracking position point. Optionally, in this embodiment, determining the unbinding of the tracking moving component from the tracking position point based on the position measurement information of the tracking position point and the moving component may include, but is not limited to, at least one of the following:

[0130] Based on the position measurement information of the tracking location point and the tracking moving component, when the distance between the tracking moving component and the tracking location point is detected to exceed a preset distance threshold, it is determined that the tracking moving component and the tracking location point will be unbound.

[0131] For example, suppose that the tracking motion component 1, which has been bound to the tracking position point a, is moving from left to right along the track component, where the tracking position point a is located to the left of the tracking motion component 1, and the distance between the tracking motion component 1 and the tracking position point a exceeds a preset distance threshold, then it is determined that the tracking motion component 1 and the tracking position point a are unbound.

[0132] Based on the position measurement information of the tracking location points and the moving components, when the number of moving components bound to the tracking location points exceeds the preset moving component binding threshold, it is determined that the tracking location points will be unbound from the excess tracking moving components.

[0133] For example, suppose the preset moving component binding threshold for tracking location point b is N, and tracking location point b has been bound to N moving components. When moving component 1 moves to tracking location point b, tracking location point a is unbound from the first moving component among the N already bound moving components, and then moving component 1 is bound to tracking location point b.

[0134] For another example, suppose the preset mobile component binding threshold for tracking location point b is N, and tracking location point b has already been bound to N mobile components. When mobile component 1 moves to tracking location point b, tracking location point b is unbound from the N already bound mobile components, and then mobile component 1 is bound to tracking location point a.

[0135] Based on the position measurement information of the tracking location point and the moving component, when it is detected that the tracking location point is bound to another moving component, it is determined that the tracking location point is unbound from the tracking moving component.

[0136] For example, assuming that the tracking position point c is already bound to the moving component 1, when the moving component 2 moves to the tracking position point c, the moving component 2 will be bound to the tracking position point c, and the binding relationship between the tracking position point c and the moving component 1 will be released.

[0137] Based on the location measurement information of the tracking location points and the tracking motion component, when the number of location points bound to the tracking motion component exceeds the preset location point binding threshold, it is determined that the tracking motion component will be unbound from the tracking location points.

[0138] For example, suppose the preset location point binding threshold of the mobile component 1 is M, and the mobile component 1 has been bound to M tracking location points. When the mobile component 1 moves to the tracking location point d, the mobile component 1 will be unbound from the first tracking location point among the M already bound tracking location points, and then the mobile component 1 will be bound to the tracking location point d.

[0139] For another example, assuming that the preset position point binding threshold of the moving component 1 is M, and the moving component 1 has been bound to M tracking position points, when the moving component 1 moves to the tracking position point e, the moving component 1 is unbound from the M tracking position points that have been bound, and then the moving component 1 is bound to the tracking position point a.

[0140] It should be noted that the example is an optional example provided to illustrate the linear motor control method, and there are no limitations on the specific implementation of the linear motor control method.

[0141] The linear motor control method provided in this application determines the method of unbinding the tracking moving component from the tracking position point based on the position measurement information of the tracking position point and the moving component. This achieves the purpose of timely unbinding the tracking position point that is unrelated to the processing operation currently being performed by the operating device, thereby avoiding the system overhead caused by unnecessary binding relationships.

[0142] It should also be noted that in some embodiments, the tracking position point and the operation position point may correspond to the same location. For example, if the tracking moving component is stationary when the operating device performs the corresponding operation step, then the expected position of the moving component when the operating device performs the corresponding operation step can be correspondingly set as the tracking position point and the operation position point. Furthermore, the function of the operation position point can be implemented through the tracking position point. In this case, the position state may also include: a binding establishment state; a binding release state.

[0143] Optionally, as an alternative approach, the location monitoring information of the moving component, configured to track the moving component, is sent to the operating device, including:

[0144] Based on the binding state between the mobile component and the tracking location point, output location status information to characterize the binding state of the tracking location point, wherein the binding state includes at least one of the following: binding establishment state; binding release state.

[0145] The linear motor control method provided in this application outputs position status information representing the binding state of the tracking position point based on the binding state between the moving component and the tracking position point. The output position status information is then sent to the operating device, enabling the operating device to determine the movement of the moving component in a timely manner based on the position status information of the moving component, and then perform corresponding processing operations based on the movement of the moving component, thereby achieving the technical effect of improving production efficiency.

[0146] It is understood that in some embodiments, the tracking moving component can be determined within the entire area of ​​the track component, or the moving component can be determined within a portion of the track component. Thus, the tracking moving component can only be set when the moving component enters that portion of the area, thereby sending the position monitoring information of the moving component to the operating device.

[0147] Optionally, in this embodiment, assuming that a trigger signal is used to represent the position status information of the tracking moving component, the position status information used to characterize the binding status of the tracking position point, based on the binding status between the moving component and the tracking position point, can be output as shown in, but is not limited to, the following examples:

[0148] When the binding state between the tracking moving component and the operating position point is in the binding established state, a first trigger signal (e.g., high level) is output; when the binding state between the tracking moving component and the tracking position point is in the binding unbound state, a second trigger signal (e.g., low level) is output.

[0149] As an optional example, but not limited to the following example, we can illustrate how to output position state information that characterizes the binding state of a tracking location point based on the binding state between the moving component and the tracking location point:

[0150] like Figure 9 As shown, the linear motor includes a moving component 902 and a moving component 904. Assume that a tracking position point 9-a and an operating position point 9-b are set along the track assembly. During the movement of the moving components 902 and 904, the position status information in the position monitoring information related to the tracking position point 9-a sent to the operating device can be referenced... Figure 9 The digital signal 906 shown can be used as a reference for the real-time position information in the position monitoring information related to the tracking position point 9-a sent to the operating device. Figure 9 The digital signal 908 is shown. During the movement of the mobile component 902, when the mobile component 902 is bound to the tracking position point 9-a, it sends position monitoring information of the mobile component 902, which is the tracking mobile component, to the operating device. The position status information of the mobile component 902 can be referenced... Figure 9 The signal segment shown in region 906-1 of the digital signal 906, and the real-time position information of the moving component 902 can be referenced here. Figure 9 The signal segment shown is region 908-1 in the digital signal 908 shown. During the movement of the moving component 904, when the moving component 904 is bound to the tracking position point 9-a, it sends position monitoring information of the moving component 904, which is the tracking moving component, to the operating device. The position status information of the moving component 904 can be referenced... Figure 9 The signal segment shown in region 906-2 of the digital signal 906, and the real-time position information of the moving component 904 can be referenced here. Figure 9 The signal segment shown in region 908-2 of the digital signal 908 is illustrated.

[0151] Specifically, regarding the moving component 902, on the one hand, when the moving component 902 reaches the tracking position point 9-a at time t13, the position point binding state of the tracking position point 9-a of the moving component 902 is determined to be a binding establishment state, and then the digital signal 906 output to the operating device changes from low level to high level, and a pulse-form digital signal 908 representing the position status information is output to the operating device; then, when the moving component 902 leaves the tracking position point 9-a at time t14, the digital signal output to the operating device changes from high level to low level, and the pulse-form digital signal 908 representing the position status information is continuously output to the operating device; then, at time t15... When the moving component 902 reaches the operating position point 9-b, the digital signal 906 output to the operating device changes from low level to high level, and continuously outputs a pulse-form digital signal 908 to the operating device to represent the position status information; then, at time t16, when the moving component 902 leaves the operating position point 9-b, the digital signal 906 output to the operating device changes from high level to low level. After determining that the distance between the moving component 902 and the tracking position point 9-a exceeds a preset distance threshold, the position point binding state between the moving component 902 and the tracking position point 9-a is unbound, and the output of the pulse-form digital signal 908 to the operating device to represent the position status information stops.

[0152] Regarding the moving component 904, when the moving component 904 reaches the tracking position point 9-a at time t17, the position point binding state of the moving component 904 at the tracking position point 9-a is determined to be a binding establishment state. Then, the digital signal 906 output to the operating device changes from low to high, and a pulse-form digital signal 908 representing the current position information is output to the operating device. Next, when the moving component 904 leaves the tracking position point 9-a at time t18, the digital signal 906 output to the operating device changes from high to low, and the pulse-form digital signal 908 representing the current position information is continuously output to the operating device. Then, at time t19... When component 904 reaches the operating position 9-b, the digital signal output to the operating device changes from low level to high level, and continuously outputs a pulse-form digital signal 908 to the operating device to represent the real-time position information. Then, at time t20, the moving component 904 leaves the operating position 9-b, the digital signal 906 output to the operating device changes from high level to low level, and after determining that the distance between the moving component 904 and the tracking position 9-a exceeds a preset distance threshold, the binding state between the moving component 904 and the tracking position 9-a is determined to be a binding release state, and the output of the pulse-form digital signal 908 to the operating device to represent the real-time position information is stopped.

[0153] As another optional example, but not limited to the following example, we can illustrate how to output position status information that characterizes the binding state of a tracking location point based on the binding state between a moving component and a tracking location point:

[0154] like Figure 10 As shown, the linear motor includes a moving component 1002 and a moving component 1004. Assume that a tracking position point 10-a and an operating position point 10-b are provided along the track assembly 1010. During the movement of the moving components 1002 and 1004, the position status information in the position monitoring information related to the tracking position point 10-a sent to the operating device can be referenced... Figure 10 The digital signal 1006 shown can be used as a reference for the real-time position information in the position monitoring information related to the tracking position point 10-a sent to the operating equipment. Figure 10 The digital signal 1008 is shown. During the movement of the mobile component 1002, position monitoring information of the mobile component 1002, which serves as a tracking mobile component, is sent to the operating device. The position status information of the tracking mobile component 1002 can be referenced from... Figure 10 The signal segment shown in region 1006-1 of the digital signal 1006 can be used to track the real-time position information of the moving component 1002. Figure 10 The signal shown in region 1008-1 of the digital signal 1008. During the movement of the moving component 1004, position monitoring information of the moving component 1004, which serves as a tracking moving component, is sent to the operating device. The position status information of the tracking moving component 1004 can be referenced from... Figure 10 The signal segment shown in region 1006-2 of the digital signal 1006 can be used to track the real-time position information of the moving component 1004. Figure 10 The signal shown in region 1008-2 of the digital signal 1008 is illustrated.

[0155] Specifically, for the moving component 1002, at time t21, the binding state between the moving component 1002 and the tracking position point 10-a is determined to be a binding established state, and the digital signal 1006 output to the operating device changes from a low level to a high level, and a pulse-form digital signal 1008 for representing the position status information is output to the operating device; then, at time t22, when the moving component 1002 reaches the operating position point 10-b, the binding state between the moving component 1002 and the tracking position point 10-a is determined to be a binding unbound state, the digital signal 1006 output to the operating device changes from a high level to a low level, and the output of the pulse-form digital signal 1008 for representing the position status information to the operating device is stopped.

[0156] For the moving component 1004, at time t23, the binding state between the moving component 1004 and the tracking position point 10-a is determined to be a binding established state. Then, the digital signal 1006 output to the operating device changes from a low level to a high level, and a pulse-form digital signal 1008 for representing the position status information is output to the operating device. Then, at time t24, when the moving component 1004 reaches the operating position point 10-b, the binding state between the moving component 1004 and the tracking position point 10-a is determined to be a binding unbound state. The digital signal output to the operating device changes from a high level to a low level and the output of the pulse-form digital signal 1008 for representing the position status information to the operating device is stopped.

[0157] As another optional example, the following example can be used to illustrate how to output position status information representing the binding state of a tracking location point based on the binding state between a moving component and a tracking location point:

[0158] like Figure 11 As shown, the linear motor includes a moving component 1102 and a moving component 1104. Tracking position points 11-a and 11-c are provided along the track component 1110. An operating position point 11-b for the operating device may also be included between tracking position points 11-a and 11-c. During the movement of the moving components 1102 and 1104, position monitoring information related to tracking position point 11-a is sent to the operating device via one or more signal transmission interfaces. Figure 11 The set of digital signals shown in central region 1106, and the position monitoring information related to tracking location point 11-c sent to the operating device through one or more signal transmission interfaces, can be referenced. Figure 11 The set of digital signals shown in the middle area 1108 includes tracking position points 11-a and 11-c, which correspond to different signal transmission interfaces.

[0159] During the movement of the mobile component 1102, the position status information of the mobile component 1102 related to the tracking position point 11-a sent to the operating device can be referenced. Figure 11 The signal segment shown in the middle region 1106-1, which sends the real-time position information of the moving component 1102 related to the tracking position point 11-a to the operating device, can be referenced. Figure 11 The signal segment shown in the middle area 1106-3; the position status information of the moving component 1102 related to the tracking position point 11-c sent to the operating device can be referenced. Figure 11 The signal segment shown in the middle region 1108-1, which sends the tracking position point 11-c related to the moving component 1102 to the operating device, can be referenced. Figure 11The signal segment shown in region 1108-2.

[0160] During the movement of the moving component 1104, the position status information of the moving component 1104 related to the tracking position point 11-a sent to the operating device can be referenced. Figure 11 The signal segment shown in the middle region 1106-2, which sends the real-time position information of the moving component 1104 related to the tracking position point 11-a to the operating device, can be referenced. Figure 11 The signal segment shown in region 1106-4. It is understandable that, although... Figure 11 The signal segment of the position information of the moving component 1104 associated with the tracking position point 11-c is not shown, but it can be inferred by analogy from the signal segment of the position information of the moving component 1102 associated with the tracking position point 11-c.

[0161] Specifically, regarding the moving component 1102, and considering the signal segments shown in reference regions 1106-1 and 1106-3, on the one hand, when the moving component 1102 reaches the tracking position point 11-a at time t5, the binding state between the moving component 1102 and the tracking position point 11-a is determined to be a binding establishment state. Through the signal transmission interface corresponding to the tracking position point 11-a, the digital signal representing the position status information output to the operating device changes from a low level to a high level, and a pulse-form digital signal representing the actual position information is output to the operating device. Then, when the moving component 1102 leaves the tracking position point 11-a at time t6, the digital signal representing the position status information output to the operating device changes from a high level to a low level, and continues to output a pulse-form digital signal representing the actual position information to the operating device. Finally, at time t7, the moving component 1102 reaches the operating position point 1... In case 1-b, the digital signal representing the position status information output to the operating device changes from low level to high level, and continues to output pulse-shaped digital signals representing the actual position information to the operating device; then, at time t8, when the moving component 1102 leaves the operating position point 11-b, the digital signal representing the position status information output to the operating device changes from high level to low level, and continues to output pulse-shaped digital signals representing the actual position information to the operating device; then, at time t9, when the moving component 1102 reaches the tracking position point 11-c, the position point binding state between the moving component 1102 and the tracking position point 11-a is determined to be a binding release state and the position point binding state between the moving component 1102 and the tracking position point 11-c is determined to be a binding establishment state, and the signal transmission interface corresponding to the tracking position point 11-a stops outputting digital signals related to the moving component 1102 to the operating device.

[0162] It is understandable that, by combining the signal segments shown in reference areas 1106-1 and 1106-3, and the relevant descriptions of tracking position point 11-c and moving component 1102, the changes in the digital signals of tracking moving component 1102 related to tracking position point 11-c can be deduced by analogy, which will not be elaborated here. Similarly, by combining the signal segments shown in reference areas 1108-1 and 1108-2, and the relevant descriptions of tracking position point 11-a and moving component 1102, the changes in the digital signals of tracking moving component 1104 related to tracking positions 11-a and 11-c can be deduced by analogy, which will not be elaborated here.

[0163] Optionally, as an alternative approach, before sending the location monitoring information of the mobile component, which is configured to track the mobile component, to the operating device, the method further includes:

[0164] Based on the operating device, a position tracking area is set, wherein the position tracking area is determined based on at least one of the operating area of ​​the operating device and the operating process of the operating device.

[0165] Optionally, in this embodiment, the location tracking area can be represented by the tracking location point of the operating device, the operation location point (e.g., the operation preparation location point, the operation area start location point, and the operation area end location point, etc.) or the independently set monitoring location point. In this embodiment, no limitation is made in this regard.

[0166] The linear motor control method provided in this application achieves the goal of reasonably setting the tracking range of the moving component by setting the position tracking area based on the operating device. This reduces the amount of data generated by identifying and setting the tracking moving component and the processing time occupied, thereby improving processing efficiency. As a result, the operating device can receive the position monitoring information of the tracking moving component more quickly, and thus the operating device can execute related processing operations more quickly, thereby achieving the technical effect of improving production efficiency.

[0167] As an optional example, taking the tracking of a moving component as determined based on tracking identification information as an example, the steps can be illustrated using examples, but are not limited to the following:

[0168] like Figure 12As shown, the linear motor includes a moving component 1202, which is a tracking moving component whose component identification information matches the tracking identification information. Assuming the set position tracking area is the operating area 1208 of the operating device, that is, the area formed by position points 12-a and 12-b, where position points 12-a and 12-b can be operating position points or monitoring position points. During the movement of the moving component 1202, when moving within the area between position points 12-a and 12-b, it outputs a digital signal 1204 representing the position status information of the moving component 1202, and a digital signal 1206 representing the real-time position information of the moving component 1202 to the operating device.

[0169] As another alternative example, taking the tracking of a moving component as an example where the tracking location is determined based on the tracking points, the steps can be illustrated using, but are not limited to, the following examples:

[0170] like Figure 13 As shown, the linear motor includes a moving component 1302. It is assumed that the set tracking position points may include operating position point 13-a, tracking position point 13-b, operating position point 13-c, and tracking position point 13-d. The position tracking area 1308 may be the area formed by tracking position point 13-b and tracking position point 13-d. It is understood that operating position point 13-a is an operating position point set for understanding the specific implementation method. In actual application, operating position point 13-a may not be set or may play other roles. During the movement of the mobile component 1302 from left to right, since the operation position point 13-a is located outside the position tracking area 1308, it does not output a digital signal to the operation device to represent position monitoring information when it reaches the operation position point 13-a. After the mobile component 1302 reaches the tracking position point 13-b, it outputs a digital signal 1304 to the operation device to represent the position status information of the mobile component 1302, and a digital signal 1306 to represent the real-time position information of the mobile component 1302, until the mobile component 1302 leaves the position tracking area 1308 after passing the tracking position point 13-d.

[0171] This application also provides products corresponding to the method, which will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the products described below may include functional modules and / or physical hardware required to implement the method provided in the embodiments of this invention; the content of the product description below can be referred to in correspondence with the content of the method described above.

[0172] According to another aspect of the embodiments of this application, a linear motor control device is also provided, comprising:

[0173] Track components;

[0174] The moving component is driven by the track component via magnetic coupling and moves along the track component;

[0175] A position monitoring device is used to monitor the position of a moving component and send the position monitoring information of the moving component to an operating device, wherein the operating device is used to perform processing operations related to tracking the moving component based on the received position monitoring information.

[0176] A magnetic drive motor device is used to execute a linear motor control method. Specific embodiments can be found in the embodiments of the linear motor control method, which will not be repeated here.

[0177] Optionally, as an alternative solution, the location monitoring device includes:

[0178] The position measurement module is used to measure the position of the moving component and obtain position measurement information;

[0179] The control module is used to monitor the position of the moving component based on the position measurement information, and to send the position monitoring information of the moving component directly or by controlling the position measurement device to the operating equipment.

[0180] Optionally, taking the control module for position monitoring of the moving component based on position measurement information, and taking the position monitoring information of tracking the moving component as an example, the linear motor control device may, but is not limited to, refer to... Figure 14 Specifically, the control module 1402 is connected to the position measurement module 1404, the linear motor 1406, and the operating device 1408. The position measurement module 1404 is located near the track assembly 1406-1 of the linear motor and is used to measure the position of the moving assembly 1406-2.

[0181] Optionally, taking the control module for position monitoring of the moving component based on position measurement information, and taking the position monitoring information of tracking the moving component as an example, the linear motor control device may, but is not limited to, refer to... Figure 15 Specifically, the control module 1502 is connected to the position measurement module 1504 and the linear motor 1506, respectively, and the position measurement module 1504 is connected to the operating device 1508.

[0182] For specific implementation examples, please refer to the implementation examples of the linear motor control method, which will not be repeated here.

[0183] 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 the moving component based on the position measurement information, and controls the interface extension submodule to send the position monitoring information of the moving component to the operating device.

[0184] For specific implementation examples, please refer to the implementation examples of the linear motor control method, which will not be repeated here.

[0185] 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.

[0186] Optionally, taking the control module for monitoring the position of a moving component based on position measurement information, and controlling the position measurement submodule and the gating submodule to send the position monitoring information of the moving component to the operating device as an example, the linear motor control device may, but is not limited to, refer to... Figure 16 Specifically, the control module 1602 is connected to the position measurement submodule 1604 and the linear motor 1606, the position measurement submodule 1604 is connected to the gating submodule 1608, and the gating submodule 1608 is connected to the operating device 1610.

[0187] For specific implementation examples, please refer to the implementation examples of the linear motor control method, which will not be repeated here.

[0188] According to another aspect of the embodiments of this application, a conveying system is also provided, comprising:

[0189] A linear motor, comprising a track assembly and a moving assembly, the moving assembly being used to move along the track assembly;

[0190] Linear motor control equipment is used to control the track assembly to drive the moving assembly through magnetic coupling, monitor the position of the moving assembly, and send the position monitoring information of the moving assembly to the operating equipment.

[0191] Operating equipment is used to perform relevant processing operations on the tracking moving component based on the received location monitoring information.

[0192] A conveying system is used to execute a linear motor control method. Specific embodiments can be found in the embodiments of the linear motor control method, which will not be repeated here.

[0193] Alternatively, as an alternative, the operating device is used to perform at least one of welding operations and image inspection operations.

[0194] It should be noted that, in some embodiments, when the operating device is used to perform welding operations, the operating device may, but is not limited to, determine whether to perform welding operations based on position monitoring information of the tracking moving component. When the operating device is used for image detection operations, the operating device may, but is not limited to, determine whether to perform image detection operations based on position monitoring information of the tracking moving component.

[0195] Alternatively, as an alternative, the operating actuator of the operating device may be fixed, or the direction of movement of the operating actuator of the operating device may be different from the direction of movement of the tracking moving component.

[0196] Alternatively, as one implementation method, when the operating equipment performs welding operations, the operating actuator of the operating equipment can remain stationary, while a tracking and moving component coordinates with the operating equipment to perform the welding operation according to the actual welding requirements. This welding method, where the operating actuator of the operating equipment can remain stationary, significantly improves the efficiency of the welding operation due to the flexibility and high speed of the moving component. This method avoids the power consumption of the operating actuator's movement, greatly reducing production costs. Furthermore, because this welding method has the advantage of high welding speed, it has a wider range of applications, such as in laser flying welding scenarios where high welding speeds are required.

[0197] Alternatively, as another implementation, when the operating equipment performs welding operations, the movement direction of the operating actuator of the operating equipment can also be set to be different from the movement direction of the tracking moving component, thereby creating a two-dimensional welding environment and achieving the technical effect of improving welding efficiency.

[0198] Alternatively, as another implementation method, when the operating device performs image detection operations, the operating actuator of the operating device can remain stationary, while a tracking and moving component cooperates with the operating device to perform image detection operations according to the actual image detection needs of the operating device. In other words, this method significantly improves the efficiency of image detection operations due to the flexible and fast movement of the moving component. Furthermore, because this image detection method has the advantage of high speed, its application scenarios are more extensive; for example, it can be applied to scenarios involving frequent aerial photography for detection.

[0199] 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.

[0200] According to another aspect of the embodiments of this application, a linear motor control device for implementing a linear motor control method is also provided. For example... Figure 17 As shown, the device includes:

[0201] The position monitoring unit 1702 is used to monitor the position of the moving component;

[0202] The transmitting unit 1704 is used to send the position monitoring information of the moving component, which is set to track the moving component, to the operating device. The operating device is used to perform processing operations related to tracking the moving component based on the received position monitoring information. The linear motor includes a track component and a moving component. The track component is used to drive the moving component by magnetic coupling. The moving component is used to move along the track component.

[0203] Optionally, in some embodiments, the linear motor control device further includes: a first setting unit, configured to set a moving component that matches the tracking identification information as a tracking moving component based on tracking identification information; and a second setting unit, configured to set a moving component that is bound to a tracking position point as a tracking moving component based on a tracking position point, wherein the tracking position point is set based on the operating device.

[0204] Optionally, in some embodiments, the second setting unit includes: a first sending module, configured to send real-time location information of the tracking mobile component to the operating device, wherein the real-time location information is used to characterize the actual location of the tracking mobile component; and a second sending module, configured to send location status information of the tracking mobile component to the operating device, wherein the location status information is used to characterize the location status of the tracking mobile component determined by the operating device.

[0205] Optionally, in some embodiments, the linear motor control device further includes: a determining unit, configured to determine the position status information of the tracking moving component based on the operating position point and the position measurement information of the tracking moving component, wherein the operating position point is set according to the processing operation of the operating device.

[0206] Optionally, in some embodiments, the second setting unit further includes: a first determining module, used to determine whether the mobile component meets the binding conditions based on the position measurement information of the mobile component; and a first setting module, used to set the mobile component that meets the binding conditions as a tracking mobile component.

[0207] Optionally, in some embodiments, the first determining module is further configured to determine, based on the position measurement information of the mobile component, whether the distance between the mobile component and the tracking location point is less than a preset distance threshold; and based on the position measurement information of the mobile component, determine whether the state information of the mobile component closest to the tracking location point matches a preset target state, wherein the target state includes: target component identification information, and / or, the motion mode of the mobile component.

[0208] Optionally, in some embodiments, the linear motor control device further includes: a first determining unit, configured to determine, based on the tracking position point and the position measurement information of the moving component, that the tracking moving component is unbound from the tracking position point.

[0209] Optionally, in some embodiments, the first determining unit includes: a third determining module, configured to determine, based on the position measurement information of the tracking location point and the tracking moving component, to unbind the tracking moving component from the tracking location point when the distance between the tracking moving component and the tracking location point exceeds a preset distance threshold; a fourth determining module, configured to determine, based on the position measurement information of the tracking location point and the moving component, to unbind the tracking location point from the excess tracking moving components when the number of moving components bound to the tracking location point exceeds a preset moving component binding threshold; a fifth determining module, configured to determine, based on the position measurement information of the tracking location point and the moving component, to unbind the tracking location point from the tracking moving component when the tracking location point is bound to another moving component; and a sixth determining module, configured to determine, based on the position measurement information of the tracking location point and the tracking moving component, to unbind the tracking moving component from the tracking location point when the number of location points bound to the tracking moving component exceeds a preset location point binding threshold.

[0210] Optionally, in some embodiments, the sending unit includes: a first output module, configured to output location status information characterizing the binding status of the tracking location point based on the binding status between the mobile component and the tracking location point, wherein the binding status includes at least one of the following: binding establishment status; binding release status.

[0211] Optionally, in some embodiments, the apparatus further includes: a third setting unit, configured to set a position tracking area based on the operating device, wherein the position tracking area is determined based on at least one of the operating area of ​​the operating device and the operating process of the operating device.

[0212] For specific implementation examples, please refer to the examples shown in the linear motor control method; these examples will not be repeated here.

[0213] According to one aspect of this application, a linear motor control device is provided, characterized in that it comprises:

[0214] Track components;

[0215] The moving component is driven by the track component via magnetic coupling and moves along the track component;

[0216] A position monitoring device is used to monitor the position of a moving component and send the position monitoring information of the moving component to an operating device, wherein the operating device is used to perform processing operations related to tracking the moving component based on the received position monitoring information.

[0217] Optionally, in some embodiments, the position monitoring device includes: a position measurement module for measuring the position of the moving component and obtaining position measurement information; and a control module for monitoring the position of the moving component based on the position measurement information, and for directly or controlling the position measurement device to send the position monitoring information of the moving component to the operating device.

[0218] Optionally, in some embodiments, the control module includes a control submodule and an interface extension submodule, wherein the control submodule is used to monitor the position of the moving component based on the position measurement information, and controls the interface extension submodule to send the position monitoring information of the moving component to the operating device.

[0219] Optionally, in some embodiments, 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.

[0220] For specific implementation examples, please refer to the examples shown in the linear motor control method; these examples will not be repeated here.

[0221] According to one aspect of this application, a conveying system is provided, comprising:

[0222] A linear motor, comprising a track assembly and a moving assembly, the moving assembly being used to move along the track assembly;

[0223] Linear motor control equipment is used to control the track assembly to drive the moving assembly through magnetic coupling, monitor the position of the moving assembly, and send the position monitoring information of the moving assembly to the operating equipment.

[0224] Operating equipment is used to perform relevant processing operations on the tracking moving component based on the received location monitoring information.

[0225] Optionally, in some embodiments, the operating device is used to perform at least one of welding operations and image detection operations.

[0226] Optionally, in some embodiments, the operating actuator of the operating device is fixed, or the direction of movement of the operating actuator of the operating device is different from the direction of movement of the tracking moving component.

[0227] For specific implementation examples, please refer to the examples shown in the linear motor control method; these examples will not be repeated here.

[0228] According to another aspect of the embodiments of this application, an electronic device for implementing a linear motor control method is also provided, further as follows: Figure 18 As shown, the electronic device includes a memory 1802 and a processor 1804, the memory 1802 storing a computer program and the processor 1804 being configured to execute the steps of any of the method embodiments via the computer program.

[0229] Computer programs can include any suitable type of code implemented using any appropriate high-level, low-level, object-oriented, visual, compiled, and / or interpreted programming language, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, encrypted code, etc.

[0230] Optionally, in this embodiment, the electronic device may be located in at least one of a plurality of network devices in a computer network.

[0231] Optionally, in this embodiment, the processor may be configured to perform the following steps via a computer program:

[0232] S1, perform position monitoring on the moving component;

[0233] S2, the position monitoring information of the mobile component set to track the mobile component is sent to the operating device, wherein the operating device is used to perform processing operations related to tracking the mobile component based on the received position monitoring information.

[0234] Alternatively, as those skilled in the art will understand, Figure 18 The structure shown is for illustrative purposes only. Figure 18 It does not impose limitations on the structure of electronic devices. For example, electronics can also include... Figure 18 The more or fewer components shown (such as network interfaces, etc.), or having the same Figure 18 The different configurations shown.

[0235] The memory 1802 can be used to store software programs and modules, such as the program instructions / modules corresponding to the linear motor control method and device in this embodiment. The processor 1804 executes various functional applications and data processing by running the software programs and modules stored in the memory 1802, thereby implementing the linear motor control method. The memory 1802 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1802 may further include a memory remotely located relative to the processor 1804. Examples of networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Specifically, the memory 1802 may be used, but is not limited to, for storing location monitoring information, etc. As an example, such as... Figure 18 As shown, the memory 1802 may include, but is not limited to, the linear motor control device position monitoring unit 1702 and the transmitting unit 1704. Furthermore, it may include, but is not limited to, other module units in the linear motor control device, which will not be elaborated upon in this example.

[0236] Optionally, the communication device 1806 is used to receive or send data via a network. Specific examples of the network may include wired networks and wireless networks. In one example, the communication device 1806 includes a Network Interface Controller (NIC), which can be connected to other network devices and routers via a network cable to communicate with the Internet or a local area network. In one example, the communication device 1806 is a radio frequency (RF) module used to communicate with the Internet wirelessly.

[0237] In addition, the electronic device also includes: a display 1808 for displaying position monitoring information, etc.; and a connection bus 1810 for connecting various module components in the motion control device.

[0238] According to one aspect of this application, a computer program product is provided, comprising a computer program and / or instructions containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs various functions provided in the embodiments of this application.

[0239] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0240] It should be noted that the computer system of the electronic device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0241] A computer system includes a Central Processing Unit (CPU), which performs various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) or loaded from RAM. ROM also stores various programs and data required for system operation. The CPU, ROM, and RAM are interconnected via a bus. Input / output interfaces (I / O interfaces) are also connected to the bus.

[0242] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs various functions defined in the system of this application.

[0243] According to one aspect of this application, a computer-readable storage medium is provided, from which a processor of a computer device reads computer instructions, and the processor executes the computer instructions, causing the computer device to perform methods provided in various alternative implementations.

[0244] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0245] S1, perform position monitoring on the moving component;

[0246] S2, the position monitoring information of the mobile component set to track the mobile component is sent to the operating device, wherein the operating device is used to perform processing operations related to tracking the mobile component based on the received position monitoring information.

[0247] Optionally, in this embodiment, those skilled in the art will understand that all or part of the steps in the various methods of the embodiment can be implemented by a program instructing the hardware related to the motion 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.

[0248] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0249] If the units, modules, etc., in the embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. 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 of the various embodiments of this application.

[0250] In the embodiments of 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.

[0251] 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.

[0252] 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.

[0253] 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.

[0254] 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 linear motor control method, characterized in that, The linear motor includes a track assembly and a moving assembly, the track assembly being used to drive the moving assembly via magnetic coupling, and the moving assembly being used to move along the track assembly; the method includes: Position monitoring is performed on the moving component; Based on the tracking location point, the mobile component that is bound to the tracking location point is set as the tracking mobile component, and the tracking location point is set based on the operating device; Based on the position measurement information of the tracking location point and the moving component, determining to unbind the tracking moving component from the tracking location point includes at least one of the following: determining to unbind the tracking moving component from the tracking location point when the distance between the tracking moving component and the tracking location point exceeds a preset distance threshold; determining to unbind the tracking location point from the excess tracking moving components when the number of moving components bound to the tracking location point exceeds a preset moving component binding threshold; determining to unbind the tracking location point from the tracking moving component when the tracking location point is bound to another moving component; or determining to unbind the tracking moving component from the tracking location point when the number of location points bound to the tracking moving component exceeds a preset location point binding threshold. The location monitoring information of the tracking mobile component is sent to the operating device, wherein the operating device is used to perform processing operations related to the tracking mobile component based on the received location monitoring information.

2. The method according to claim 1, characterized in that, Before sending the location monitoring information of the tracking motion component to the operating device, the method further includes: Based on the tracking identification information, the mobile component that matches the tracking identification information is set as the tracking mobile component.

3. The method according to claim 2, characterized in that, The step of sending the location monitoring information of the mobile component, which is configured to track the mobile component, to the operating device further includes at least one of the following: The real-time location information of the tracking motion component is sent to the operating device, wherein the real-time location information is used to characterize the actual location of the tracking motion component; The position status information of the tracking motion component is sent to the operating device, wherein the position status information is used to characterize the position status of the tracking motion component determined by the operating device.

4. The method according to claim 3, characterized in that, Before sending the position status information of the tracking motion component to the operating device, the method further includes: The position status information of the tracking motion component is determined based on the operation location point and the position measurement information of the tracking motion component. The operation location point is set according to the processing operation of the operation device.

5. The method according to claim 1, characterized in that, The step of setting the motion component bound to the tracking location point as a tracking motion component based on the tracking location point includes: Based on the position measurement information of the mobile component, it is determined whether the mobile component meets the binding conditions; Set the mobile component that meets the binding conditions as the tracking mobile component.

6. The method according to claim 1, characterized in that, The determination of whether the mobile component meets the binding conditions based on the position measurement information of the mobile component includes at least one of the following: Based on the position measurement information of the moving component, determine whether the distance between the moving component and the tracking location point is less than a preset distance threshold; Based on the position measurement information of the moving component, it is determined whether the state information of the moving component closest to the tracking position point matches the preset target state, wherein the target state includes: target component identification information, and / or, the moving component motion mode.

7. The method according to claim 1, characterized in that, The step of sending the location monitoring information of the mobile component, which is configured to track the mobile component, to the operating device includes: Based on the binding state between the mobile component and the tracking location point, position status information is output to characterize the binding state of the tracking location point, wherein the binding state includes at least one of the following: binding establishment state; binding release state.

8. The method according to claim 1, characterized in that, Before sending the location monitoring information of the mobile component, which is configured to track the mobile component, to the operating device, the method further includes: Based on the operating device, a position tracking area is set, wherein the position tracking area is determined based on at least one of the operating area of ​​the operating device and the operating process of the operating device.

9. A linear motor control device, characterized in that, include: Track components; The moving component is driven by the track component via magnetic coupling and moves along the track component; Based on the tracking location point, the mobile component bound to the tracking location point is set as the tracking mobile component, and the tracking location point is set based on the operating device; based on the position measurement information of the tracking location point and the mobile component, it is determined that the tracking mobile component is unbound from the tracking location point, including at least one of the following: based on the position measurement information of the tracking location point and the tracking mobile component, when it is detected that the distance between the tracking mobile component and the tracking location point exceeds a preset distance threshold, it is determined that the tracking mobile component is unbound from the tracking location point; Based on the position measurement information of the tracking location point and the moving component, when it is detected that the number of moving components bound to the tracking location point exceeds a preset moving component binding threshold, it is determined that the tracking location point is unbound from the excess tracking moving components; Based on the tracking location point and the position measurement information of the moving component, when it is detected that the tracking location point is bound to another moving component, it is determined that the tracking location point is unbound from the tracking moving component; Based on the tracking location points and the location measurement information of the tracking motion component, when it is detected that the number of location points bound to the tracking motion component exceeds a preset location point binding threshold, it is determined that the tracking motion component is unbound from the tracking location points; A location monitoring device is used to monitor the location of the moving component and send the location monitoring information of the moving component, which is set as the tracking moving component, to an operating device, wherein the operating device is used to perform processing operations related to the tracking moving component based on the received location monitoring information.

10. The linear motor control device according to claim 9, characterized in that, The location monitoring device includes: The position measurement module is used to measure the position of the moving component and obtain position measurement information. The control module is used to monitor the position of the moving component based on the position measurement information, and to send the position monitoring information of the tracking moving component directly or by controlling the position measurement device to the operating device.

11. The linear motor control device according to claim 10, 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 moving component based on the position measurement information and control the interface extension submodule to send the position monitoring information of the tracking moving component to the operating device.

12. The linear motor control device according to claim 10, 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.

13. A conveying system, characterized in that, include: A linear motor, the linear motor comprising a track assembly and a moving assembly, the moving assembly being used to move along the track assembly; A linear motor control device is used to control the track assembly to drive the moving assembly via magnetic coupling, and to monitor the position of the moving assembly, and to send the position monitoring information of the moving assembly, which is configured to track the moving assembly, to an operating device; Based on the tracking location point, the mobile component bound to the tracking location point is set as the tracking mobile component, and the tracking location point is set based on the operating device; based on the position measurement information of the tracking location point and the mobile component, it is determined that the tracking mobile component is unbound from the tracking location point, including at least one of the following: based on the position measurement information of the tracking location point and the tracking mobile component, when it is detected that the distance between the tracking mobile component and the tracking location point exceeds a preset distance threshold, it is determined that the tracking mobile component is unbound from the tracking location point; Based on the position measurement information of the tracking location point and the moving component, when it is detected that the number of moving components bound to the tracking location point exceeds a preset moving component binding threshold, it is determined that the tracking location point is unbound from the excess tracking moving components; Based on the tracking location point and the position measurement information of the moving component, when it is detected that the tracking location point is bound to another moving component, it is determined that the tracking location point is unbound from the tracking moving component; Based on the tracking location points and the location measurement information of the tracking motion component, when it is detected that the number of location points bound to the tracking motion component exceeds a preset location point binding threshold, it is determined that the tracking motion component is unbound from the tracking location points; An operating device is used to perform relevant processing operations on the tracking motion component based on the received location monitoring information.

14. The system according to any one of claims 13, characterized in that, The operating device is used to perform at least one of welding operations and image detection operations.

15. The system according to claim 14, characterized in that, The operating mechanism of the operating device is fixed, or the direction of movement of the operating mechanism of the operating device is different from the direction of movement of the tracking moving component.

16. A linear motor control device, characterized in that, The linear motor includes a track assembly and a moving assembly, the track assembly being used to drive the moving assembly via magnetic coupling, and the moving assembly being used to move along the track assembly; the device includes: A position monitoring unit is configured to monitor the position of the moving component; based on a tracking location point, configure the moving component bound to the tracking location point as a tracking moving component, wherein the tracking location point is set based on the operating device; based on the tracking location point and the position measurement information of the moving component, determine that the tracking moving component is unbound from the tracking location point, including at least one of the following: based on the tracking location point and the position measurement information of the tracking moving component, when it is detected that the distance between the tracking moving component and the tracking location point exceeds a preset distance threshold, determine that the tracking moving component is unbound from the tracking location point; based on the tracking location point... Based on the position measurement information of the moving components, when the number of moving components bound to the tracking location point exceeds a preset moving component binding threshold, it is determined that the tracking location point is unbound from the excess tracking moving components; based on the position measurement information of the tracking location point and the moving components, when it is detected that the tracking location point is bound to another moving component, it is determined that the tracking location point is unbound from the tracking moving component; based on the position measurement information of the tracking location point and the tracking moving components, when it is detected that the number of location points bound to the tracking moving component exceeds a preset location point binding threshold, it is determined that the tracking moving component is unbound from the tracking location point. A sending unit is configured to send the location monitoring information of the tracking mobile component to an operating device, wherein the operating device is configured to perform processing operations related to the tracking mobile component based on the received location monitoring information.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program is executed by a processor to perform the method described in any one of claims 1 to 8.

18. An electronic device, characterized in that, It includes one or more processors and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method of any one of claims 1 to 8.

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