Production system, motor control apparatus, linear motor apparatus and control method thereof

Abstract

The invention relates to a production system, a motor control device, a linear motor device and a control method thereof. The linear motor equipment comprises a stator wire body and a plurality of mover modules movably arranged on the stator wire body, and the mover modules are used for carrying a carrier to move. The control method comprises the following steps: determining a target mover module in the plurality of mover modules, wherein the target mover module is a mover module which is determined to run to the operation equipment for interaction; and obtaining execution deviation information of the operation equipment interacting with the target mover module, wherein the execution deviation information is the measured position deviation degree when the operation equipment executes the operation. According to the execution deviation information, the moving stroke of the target rotor module is corrected, so that when the target stator module moves and interacts with the operation equipment, the bearing object is located at the operation target position. By means of the flexible controllability of the mover module, adverse operation results caused by position deviation of operation equipment are eliminated, operability is higher, and deviation correction efficiency is high.

Description

Technical Field

[0001] The present application relates to the technical field of linear motors, and in particular to a production system, a motor control device, a linear motor device and a control method thereof. Background Art

[0002] In linear motor equipment, the mover module can be driven by the stator line and move along the stator line. Therefore, linear motor equipment can be applied to material transportation scenarios. During material transportation, there are situations where the mover module needs to interact with the operating equipment (loading, unloading, processing, etc.).

[0003] However, in the process of transporting materials by the moving module, the operating equipment may fail to operate (such as the operating equipment fails to place the material on the carrier, the operating equipment fails to obtain the material from the carrier, the operating equipment fails to successfully process the material, etc.). One reason for the failure of the operating equipment is that there is a position deviation when the operating equipment performs the operation, resulting in an unfavorable operating result.

[0004] Therefore, how to eliminate the position deviation of the operating device is a problem to be solved urgently in this field. Summary of the invention

[0005] The present application provides a production system, a motor control device, a linear motor device and a control method thereof to solve at least part of the problems in the related art.

[0006] In a first aspect, an embodiment of the present application provides a control method for a linear motor device, wherein the linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry a load and move; the control method comprises:

[0007] The linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry the load to move; the control method comprises:

[0008] Determine a target mover module among a plurality of mover modules, wherein the target mover module is a mover module that is determined to be driven toward the operating device for interaction;

[0009] Acquire execution deviation information of an operating device interacting with the target mover module, wherein the execution deviation information is a measured position deviation degree of the operating device when performing an operation;

[0010] According to the execution deviation information, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the operating device, the carried object is at the operating target position.

[0011] In a second aspect, an embodiment of the present application provides a control method for a linear motor device, wherein the linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry a load and move; the control method comprises:

[0012] In response to the correction control instruction, a target mover module is determined among a plurality of mover modules, and execution deviation information of an operating device interacting with the target mover module is obtained; wherein the target mover module is a mover module determined to interact with the operating device; and the execution deviation information is a measured position deviation degree of the operating device when performing an operation;

[0013] Based on the execution deviation information, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the operating device, the supported object is at the operating target position.

[0014] In a third aspect, an embodiment of the present application provides a control method for a linear motor device, wherein the linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry a load and move; the control method comprises:

[0015] Determine a target mover module among multiple mover modules, and obtain execution deviation information of an operating device interacting with the target mover module; wherein the target mover module is a mover module determined to interact with the operating device; and the execution deviation information is a measured position deviation degree of the operating device when performing an operation;

[0016] generating a correction control instruction based on the execution deviation information;

[0017] The correction control instruction is sent to the linear motor device to correct the moving stroke of the target mover module, so that when the target stator module moves to interact with the operating device, the carrier is in the operating target position.

[0018] In a fourth aspect, an embodiment of the present application provides a motor control device, including:

[0019] processor;

[0020] A memory, configured to store executable instructions of the processor;

[0021] The processor is configured to execute any one of the control method described in the first aspect, the control method described in the second aspect, and the control method described in the third aspect.

[0022] In a fifth aspect, an embodiment of the present application provides a linear motor device, including:

[0023] stator wire body;

[0024] A plurality of mover modules movably arranged on the stator wire body, wherein the mover modules carry a load;

[0025] A local control device, wherein the local control device is configured to execute the control method described in the first aspect or the control method described in the second aspect.

[0026] In a sixth aspect, an embodiment of the present application provides a production system, including:

[0027] The motor control device according to the fourth aspect;

[0028] A linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry a load and move;

[0029] An operating device is used to interact with the target mover module.

[0030] Through the above technical scheme, the moving stroke of the target mover module is corrected through the execution deviation information of the operating device, and the flexible controllability of the mover module is utilized to eliminate the adverse operating results caused by the position deviation of the operating device, thereby ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, thereby smoothly interacting with the operating device, improving the operation success rate and accuracy of the operating device, being more operable, and having a higher deviation correction efficiency.

[0031] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0033] Figure 1 Schematic diagram of the structure of a linear motor device shown in the related art.

[0034] Figure 2 It is a schematic structural diagram of a linear motor device shown in an exemplary embodiment using the control method of the present application.

[0035] Figure 3 It is a flowchart of a control method of a linear motor device of the present application in an exemplary embodiment.

[0036] Figure 4 is a flow chart of a control method of a linear motor device of the present application in another exemplary embodiment.

[0037] Figure 5 is a flowchart of a control method of a linear motor device of the present application in yet another exemplary embodiment.

[0038] Figure 6 It is a schematic diagram of a flow chart of position measurement of an actuator in a control method of a linear motor device of the present application in an exemplary embodiment.

[0039] Figure 7 is a structural schematic diagram of a linear motor device shown in another exemplary embodiment using the control method of the present application.

[0040] Figure 8 It is a control logic relationship diagram of static deviation correction of the control method of the linear motor device of the present application in an exemplary embodiment.

[0041] Fig. 9 It is a schematic diagram of the control logic relationship of the dynamic deviation correction of the control method of the linear motor device of the present application in an exemplary embodiment. DETAILED DESCRIPTION

[0042] In the related art, during the process of transporting materials by the moving module, the operation of the operating equipment may fail. One reason for the operation failure is that the actuator of the operating equipment (such as the grasping mechanism, the processing mechanism) has a position deviation, which leads to unfavorable operation results (the actuator fails to grasp or place the material smoothly, the actuator releases the material in advance, causing the material to fall, the actuator fails to successfully process the material carried by the carrier, etc.). The position deviation of the actuator may be caused by the inconsistency of the operating equipment during the production and assembly process, for example, there are processing errors in the parts of the operating equipment, and there are assembly errors during the assembly process of the operating equipment.

[0043] like Figure 1 As shown, the linear motor device 90 includes a mover module 91, the mover module 91 is equipped with a carrier 92, and the operating device 93 includes an actuator 94, which may include a gripping mechanism or other processing mechanism. In theory, the actuator 94 of the operating device 93 should move to the expected gripping position shown by the dotted line, so as to extend toward the mover module 91 and grip the carrier 92 transported by the mover module 91. However, the actuator 94 may actually run to the actual gripping position shown by the solid line, and fail to correspond to the carrier 92, resulting in a gripping failure.

[0044] In order to solve the above problems, the present application provides a production system, a motor control device, a linear motor device and a control method thereof to solve at least some of the problems in the related art. The production system, the motor control device, the linear motor device and a control method thereof of the present application are introduced below in conjunction with the accompanying drawings.

[0045] The present application provides a control method for a linear motor device. Figure 2 As shown, the linear motor device includes a stator line body 10 and a plurality of mover modules 20 movably arranged on the stator line body 10, and the mover module 20 is used to carry and move a load 30. It should be noted that the load can be a carrier installed on the mover module 20, or a material loaded on the carrier, which will be described in detail below.

[0046] See also Figure 3 As shown, the control method may include:

[0047] Step S10 : determining a target mover module among a plurality of mover modules, wherein the target mover module is a mover module that is determined to be driven toward the operating device for interaction.

[0048] Step S20, acquiring execution deviation information of an operating device interacting with the target mover module, wherein the execution deviation information is a measured position deviation degree when the operating device performs an operation.

[0049] Step S30: Correcting the moving stroke of the target mover module according to the execution deviation information, so that when the target stator module moves to interact with the operating device, the carried object is at the operating target position.

[0050] Optionally, the degree of position deviation when the operating device performs an operation can be determined based on the position deviation of the actuator 50 of the operating device 40 when performing the operation. Figure 2 As shown in , the actuator 50 of the operating device 40 should theoretically move to the expected operating position shown by the dotted line, but actually moves to the actual operating position shown by the solid line. Then the execution deviation information of the operating device is the deviation value a between the actual operating position and the expected operating position of the actuator 50.

[0051] The operation target position of the carrier 30 corresponds to the expected operation position of the actuator 50 of the operating device 40, that is, when the actuator 50 of the operating device 40 is in the expected operation position, the carrier 30 is in the operation target position, so that the actuator 50 of the operating device 40 can perform corresponding operations on the carrier 30.

[0052] After determining the moving stroke of the target mover module (such as moving a distance x, or moving to position point A), according to the execution deviation information corresponding to the operating device interacting with the target mover module, if the deviation value of the execution deviation information is determined to be a (a may be zero or may not be zero), then based on the deviation value a, the moving stroke of the target mover module is subjected to deviation correction (such as moving a distance x+a, or offsetting a relative to position point A, and the offset direction is determined according to the positive or negative value of a). Through the above method, after the target mover module moves and performs stroke correction according to the deviation value a of the execution deviation information, the carrier 30 is located at the operating target position adapted to the actuator 50.

[0053] After the deviation of the moving stroke of the target mover module is corrected, the motion state of the mover module is adjusted according to the corrected moving stroke (such as controlling the mover to accelerate, decelerate, maintain a constant speed, etc.) so that the load can correspond to the actuator of the operating device.

[0054] Among them, after the moving stroke of the target mover module is corrected according to the execution deviation information, at least one of the moving direction, moving speed, acceleration, and deceleration of the target mover module can be adjusted according to the corrected moving stroke of the target mover module to ensure that the target mover module completes the corrected moving stroke. That is, according to the corrected moving stroke of the target mover module, at least one of the moving distance, moving direction, moving speed, acceleration, and deceleration of the target mover module is adjusted, thereby adjusting the moving state of the target mover module (such as controlling the target mover module to accelerate, decelerate, or maintain speed), so that the carrier can correspond to the actuator of the operating device.

[0055] It can be understood that the moving stroke of the target mover module is related to the control instruction, and the control instruction may include various control parameters, for example, the control instruction may include at least the position control parameter of the target mover module, and may also include the speed control parameter, acceleration control parameter, moving direction control parameter, etc. of the target mover module. According to the execution deviation information of the operating device, the position control parameter in the control instruction may be corrected, and other related control parameters may be adjusted accordingly to ensure that the target mover module completes the corrected moving stroke.

[0056] For example, combined with Figure 2 As shown in the figure, after the target moving submodule is corrected by the moving stroke, the target moving submodule moves from the original Figure 2 The solid line position shown is adjusted to move to the dotted line position with a distance a from the solid line position, thereby driving the actual position of the load to adjust the distance a, so that the load is at the target operation position. Figure 2The dotted line position in the figure can reduce the deceleration of the target mover module so that the deceleration time of the target mover module is longer than the deceleration time corresponding to the original control parameters, or the acceleration of the target mover module can be controlled to be reduced compared to the acceleration indicated by the original control parameters so that the acceleration time of the target mover module is longer than the acceleration time corresponding to the original control parameters.

[0057] The technical solution of this application does not need to reduce the processing error and assembly error of the operating device. Instead, it corrects the moving stroke of the target mover module through the execution deviation information of the operating device, and uses the flexible controllability of the mover module to eliminate the adverse operating results caused by the position deviation of the operating device, ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, so as to smoothly interact with the operating device, improve the operation success rate and accuracy of the operating device, and have stronger operability and higher deviation correction efficiency. In addition, since the position deviation of the operating device is compensated, the operating accuracy of the operating device is indirectly improved, so that the linear motor device can be used in transportation scenarios with higher precision requirements (such as transportation scenarios in the fields of lithium batteries, 3c, semiconductors, etc.).

[0058] It is understandable that the stator wire can be obtained by splicing multiple stator modules. The shape of the stator wire formed by splicing the stator modules along the moving direction of the moving submodule can be a straight line shape, an arc shape, or a combination of the two. For ease of understanding, the straight line shape part of the stator wire is intercepted for description in the embodiments of the present application. Other shape parts of the stator wire, or stator wires with other shapes can be obtained by analogy with the description of the embodiments of the present application.

[0059] In some optional embodiments, before obtaining the execution deviation information of the actuator of the operating device that interacts with the target actuator module, the following may also be included: Step S11, performing position measurement on the actuator of the operating device to determine the deviation between the actual operating position and the expected operating position when the operating device performs the operation, thereby obtaining the execution deviation information of the operating device, that is, the degree of position deviation of the actuator of the operating device.

[0060] In practical applications, the association between the operating device and the execution deviation information can be established through the correspondence between the identification information of the operating device (information used to distinguish the operating device) and the execution deviation information. For example, each operating device has its own identification information, and the execution deviation information corresponding to each operating device is established in a correspondence with the identification information of each operating device and stored in the storage module. In this way, after determining the operating device that interacts with the target mover module, the corresponding execution deviation information can be obtained by reading the identification information of the operating device, so as to correct the moving stroke of the target mover module.

[0061] Among them, the execution deviation information corresponding to the operating device interacting with the target mover module can be obtained in advance to reduce the amount of calculation in the operation stage and improve the deviation correction efficiency (hereinafter referred to as static deviation correction). In the operation stage, after the target mover module is determined, the execution deviation information corresponding to the operating device interacting with the target mover module can be directly read. It is also possible to measure and determine the execution deviation information corresponding to the operating device interacting with the target mover module in real time during the operation stage (hereinafter referred to as dynamic deviation correction).

[0062] join Figure 4 As shown, combined with Figure 2 In some optional implementations, the position of the actuator of the operating device is measured to determine the deviation between the actual operating position and the expected operating position when the operating device performs an operation, and the execution deviation information of the operating device is obtained. The static deviation correction method may include:

[0063] Step S111, during the equipment debugging stage, when the actuator 50 is determined to move to the first expected operating position ( Figure 2 When the first actual operation position ( Figure 2 (shown by the solid line in the middle).

[0064] Step S112: determining the execution deviation information of the operating device according to the deviation between the first actual operation position and the first expected operation position. That is, the position deviation degree of the actuator 50 of the operating device 40, such as Figure 2 The deviation value a is shown in .

[0065] It is understandable that, in the equipment debugging stage, that is, before formal operation, the above steps S111-S112 can be performed on each operating device 40 to obtain the execution deviation information corresponding to each operating device 40. In this way, in the equipment operation stage, after the operating device that interacts with the target mover module is determined, the execution deviation information corresponding to the operating device can be directly obtained, so as to correct the moving stroke of the target mover module.

[0066] Optionally, in step S112, after the execution deviation information of the operating device is determined according to the deviation between the first actual operating position and the first expected operating position, the execution deviation information of the operating device can be stored in a non-volatile storage module, so that the execution deviation information corresponding to each operating device 40 is stored in the non-volatile storage module. In the device operation stage, after the operating device interacting with the target mover module is determined, the execution deviation information corresponding to the operating device interacting with the target mover module can be directly obtained from the non-volatile storage module.

[0067] It is understandable that during the equipment debugging stage, that is, before the formal operation, the execution deviation information corresponding to each operating device can be stored in non-volatile storage hardware, such as ROM (Read-Only Memory). Since the non-volatile storage hardware has a power-off retention function, the data read from the non-volatile storage hardware is fixed, and the deviation correction performed on the mover module is a static deviation correction. The non-volatile storage hardware can be a non-volatile storage module included in the linear motor device, or it can be a non-volatile storage module externally connected to the linear motor device. In this way, during the equipment operation stage, after the operating device that interacts with the target mover module is determined, the execution deviation information corresponding to the operating device can be directly read from the non-volatile storage module, thereby correcting the moving stroke of the target mover module.

[0068] join Figure 5 As shown, in some optional implementations, the position of the actuator of the operating device is measured to determine the deviation between the actual operating position and the expected operating position when the operating device performs an operation, and the execution deviation information of the operating device is obtained. The dynamic deviation correction method may include:

[0069] Step S113, during the equipment operation stage, when the actuator 50 of the operating device 40 is determined to move to a second expected operating position, a second actual operating position of the actuator 50 is measured, wherein the second expected operating position is a position where the operating device 40 does not interact with the target mover module.

[0070] Step S114: determining execution deviation information of the operating device according to the deviation between the second actual operating position and the second expected operating position.

[0071] It is understandable that, during the equipment operation stage, the above steps S113-S114 can be performed on each operating device during the movement of the target mover module, so as to obtain the execution deviation information corresponding to each operating device. In this way, after the operating device interacting with the target mover module is determined, the execution deviation information corresponding to the operating device interacting with the target mover module can be directly obtained.

[0072] Optionally, after determining the execution deviation information of the operating device according to the deviation between the second actual operating position and the second expected operating position, the execution deviation information of the operating device can be stored in a random read-write storage module. When the target mover module interacting with the operating device is determined in the next operation, the execution deviation information of the operating device can be directly obtained from the random read-write storage module, so as to correct the moving stroke of the target mover module.

[0073] It can be understood that, in the equipment operation stage, the actuators of each operating device can be controlled to move first, and the execution deviation information corresponding to each operating device can be obtained through the above steps S113-S114, and stored in random read-write storage hardware, such as RAM (Random Access Memory) and flash memory. Since the random read-write storage hardware will be continuously refreshed, the information can be updated after obtaining new execution deviation information. The data read from the random read-write storage hardware may be updated data, so the deviation correction of the mover module is dynamic deviation correction. The random read-write storage hardware can be a random read-write storage module included in the linear motor device, or a random read-write storage module external to the linear motor device. In this way, in the equipment operation stage, after the operating device that interacts with the target mover module is determined, the execution deviation information corresponding to the target mover module can be directly read from the non-volatile storage module. In this way, in the equipment operation stage, the execution deviation information can be updated according to the actual operation of the actuator of the operating device. The execution deviation information is changeable, more flexible, more accurate in correction effect, and more conducive to sudden failure of the actuator and random deviation of the actuator.

[0074] Furthermore, in dynamic deviation correction, after determining the execution deviation information of the operating device according to the deviation between the second actual operating position and the second expected operating position, in order to improve the accuracy of the stroke correction of the mover module, the actuator can be further controlled to move to the third expected operating position, and the third actual operating position of the actuator can be measured, wherein the third expected operating position is the position where the operating device does not interact with the target mover module. Then, based on the deviation between the third actual operating position and the third expected operating position, the execution deviation information of the operating device is re-determined and stored in the random read-write storage hardware, replacing the result of the last measurement. In this way, the moving stroke of the target mover module that currently interacts with the operating device can be re-corrected according to the new execution deviation information. The moving stroke of the target mover module that interacts with the operating device in the next operation can also be corrected according to the new execution deviation information.

[0075] In some optional embodiments, the control method may further include: when the operating device interacts with the target actuator module, measuring the position of the actuator of the operating device, and updating the execution deviation information of the operating device according to the relative position deviation between the target actuator module and the actuator.

[0076] It is understandable that after adopting the above-mentioned static deviation correction or dynamic deviation correction, there may still be a deviation in the position between the target mover module and the actuator. The method of this embodiment, when the operating device interacts with the target mover module, measures the position of the actuator of the operating device again, and updates the execution deviation information of the operating device based on the relative position deviation between the target mover module and the actuator, thereby improving the accuracy of the mover module stroke correction.

[0077] It should be noted that in the above-mentioned static deviation correction and dynamic deviation correction, the linear motor device may be used to control the movement of the actuator and perform position measurement, or the linear motor device may be used to only perform position measurement on the actuator.

[0078] In some optional embodiments, by measuring the position information of a specified part on the actuator, it can be characterized as the measured position information of the actuator, wherein the specified part can be the center point, corner point, etc. of the actuator. Usually, the linear motor equipment is equipped with a position measurement device, such as a magnetic grating sensor or a grating sensor installed along the stator line, which can measure the position information of the mover module. The position measurement of the actuator of the operating device can be obtained by measuring an additionally configured third-party position measurement device, such as a visual sensor, a laser sensor, an infrared sensor, etc. In this way, by measuring the actual operating position and the expected operating position of the actuator, the actual operating position and the expected operating position of the actuator are compared to determine the deviation, thereby determining the degree of position deviation of the actuator, that is, the execution deviation information of the operating device.

[0079] See also Figure 6 As shown, in some optional embodiments, the position measurement of the actuator of the operating device includes:

[0080] Step S115: determining the expected operating position of the actuator based on the reference object.

[0081] Step S116, when it is determined that the actuator moves to the expected operating position corresponding to the reference object, measuring the actual operating position of the actuator, wherein the reference object is any one of the mover modules or a marker arranged along the stator line.

[0082] For example, the reference object can be a marker (such as a calibration plate) set based on the stator line and having a certain pattern, or it can be a marker with a certain pattern arranged non-contact with the stator line. Alternatively, any mover module or target mover module can be used as a reference object. In this way, even if there is a measurement error in the third-party position measurement device, since the actual operating position of the actuator and the expected operating position of the actuator are both obtained by the third-party position measurement device and are derived from the same measurement device, the measurement error can be offset when comparing the actual operating position of the actuator with the expected operating position of the actuator.

[0083] In some optional embodiments, correcting the moving stroke of the target mover module according to the execution deviation information may include: acquiring control parameters of the target mover module, and correcting the interactive specified position indicated by the control parameters according to the execution deviation information.

[0084] It can be understood that according to the execution deviation information, the moving stroke of the target mover module is corrected, which can be understood as adjusting the control parameters of the target mover module, that is, by adjusting at least one of the movement direction, movement speed, acceleration, and deceleration of the target mover module, ensuring that the target mover module completes the corrected moving stroke, thereby adjusting the position of the target mover module when it finally stops, so that the carrier can correspond to the actuator of the operating device. The interactive specified position indicated by the control parameter can be represented by a distance or a position point. In the case of static deviation correction, the target mover module can be counted from the last interactive position or starting position, and the dynamic deviation correction can be the same as the static deviation correction.

[0085] In some optional embodiments, the correction of the movement stroke of the target mover module according to the execution deviation information may include: determining the movement increment of the target mover module that matches the movement increment information based on the movement increment information from the actuator, and correcting the movement increment according to the execution deviation information. The movement increment information of the actuator is used to characterize the position change that occurs in a single movement of the actuator. Specifically, the movement increment information of the actuator can characterize the position change that occurs in this movement of the actuator, or the movement increment information of the actuator can characterize the position change that will occur in the next movement of the actuator.

[0086] Combination Figure 7 As shown, during one operation of the operating device, the actuator 50 can have a plurality of different operating positions, for example Figure 7The actuator 50 can be moved to one of the operating positions P1, P2, and P3 at a time, and the target mover module 20 moves the corresponding movement increment according to the movement increment information of the actuator 50 moving from the current position to one of the operating positions P1, P2, and P3. Then, according to the execution deviation information corresponding to the movement of the actuator 50 once, the movement increment of the target mover module 20 is corrected, so that the carrier 30 of the target mover module 20 is in the operation target position corresponding to the actuator 50 at each operating position.

[0087] It is understandable that the shape of the operating device 40 and the shape of the stator line body 10 can be the same, for example, both are in the shape of a straight line or a circular turntable or an arc, then the movement increment of the target mover module 20 and the movement increment information of the actuator 50 between the two operating positions are in an equal relationship. The shape of the operating device 40 and the shape of the stator line body 10 can also be different, then the movement increment of the target mover module 20 and the movement increment information of the actuator 50 between the two operating positions are not in an equal relationship, the movement increment of the target mover module 20 can only ensure that the actuator moves to any operating position, and the target mover module 20 can move to the corresponding position, so that the carrier 30 can be in the operating target position corresponding to the actuator 50, thereby reducing the risk of items falling.

[0088] When the actuator 50 moves between two different operating positions, it can generate an execution state signal. The target actuator module 20 can move a matching movement increment according to the execution state signal obtained by the operating device. The movement increment can be a movement increment corrected based on the execution deviation information. Among them, a starting position point (such as Figure 7 ). Take the pulse signal as an example. After the target mover module 20 reaches the linkage starting position point P1, when the actuator 50 moves from the P1 position to the P2 position, a first execution state signal is generated, indicating that the actuator moves from the P1 position to the P2 position, and the target mover module 20 moves a matching movement increment according to the first execution state signal. When the actuator 50 moves from the P2 position to the P3 position, a second execution state signal is generated, indicating that the actuator moves from the P2 position to the P3 position, and the target mover module 20 moves a matching movement increment according to the second execution state signal.

[0089] In some optional embodiments, the correction of the movement increment according to the execution deviation information may include: when the cumulative number of movement increments of the target moving submodule reaches a preset number threshold, the current accumulated movement increment is corrected. Considering the movement accuracy of the moving submodule, the preset number threshold may be 1 or a value greater than 1.

[0090] When the preset quantity threshold is 1, a deviation correction is performed on each incremental movement of the target mover module based on each execution status signal. In this case, the movement accuracy of the mover module is less than the deviation distance. For example, the movement accuracy of the mover module is 1mm, that is, the minimum distance that the mover module can move is 1mm. Assuming the deviation distance is 5mm, then each incremental movement of the target mover module can be corrected for deviation, and the correction effect is more accurate.

[0091] When the preset quantity threshold is greater than 1, the deviation correction is performed on the travel of the target mover module's moving increment only after accumulating multiple execution status signals. In this case, the moving accuracy of the mover module is greater than the deviation distance. That is, due to the limited moving distance accuracy of the mover module, if the single deviation distance is less than the minimum distance that the mover module can move, correction cannot be performed. After multiple accumulations, the sum of the deviation distances is large. When the sum exceeds the minimum distance that the mover module can move at a time, the moving travel of the mover module can be corrected. For example, the moving accuracy of the mover module is 1mm, that is, the minimum distance that the mover module can move is 1mm. Assuming the deviation distance is 0.5mm, the target mover module does not perform deviation correction in the first moving increment. In the second moving increment, the deviation distance accumulates to 1mm, reaching the minimum moving distance of the mover module. The travel of the target mover module can be corrected once in the second moving increment. This can reduce the number of corrections and reduce the computing pressure.

[0092] In some optional implementations, the linear motor device may also have position deviations (such as position deviations caused by processing errors and installation errors), which may lead to unfavorable operating results. In the process of controlling the movement of the target mover module according to the execution status signal, there will be a certain position deviation each time it moves. After multiple movements, a larger position deviation will be accumulated, resulting in the risk of the item falling.

[0093] In order to solve the above problem, the method may further include: obtaining the load deviation information of the target mover module, the load deviation information being the position deviation degree of the load obtained by measurement. According to the load deviation information, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the operating device, the load is in the operating target position.

[0094] That is to say, the execution deviation information of the operating device and the load deviation information of the mover module itself are considered at the same time, and the stroke of the mover module is corrected to improve the success rate and accuracy of the operation. Among them, it can be that after obtaining the execution deviation information and the load deviation information, the total stroke correction amount is determined to correct the mover module. It can also be that the execution deviation information and the load deviation information are obtained in sequence, and the stroke correction amounts of the two deviation information are determined respectively, and the mover module is corrected twice.

[0095] As for the method of obtaining the load deviation information of the target mover module, the movement of each mover module can be controlled to determine the deviation between the actual position and the target position of the load carried by each mover module, thereby obtaining the load deviation information corresponding to each mover module, that is, the position deviation degree of the load corresponding to each mover module.

[0096] Then, through the correspondence between the identity information of the mover module (information used to distinguish the mover module) and the load deviation information, the association between the mover module and the load deviation information is established. For example, each mover module has its own identity information, and the load deviation information corresponding to each mover module is established with the identity information of each mover module and stored in the storage module. In this way, after the target mover module is determined, the corresponding load deviation information can be obtained by reading the identification information of the target mover module.

[0097] To control the movement of each mover module, all mover modules can be tested once during the equipment debugging stage to obtain the load deviation information corresponding to each mover module and store it in a non-volatile storage module. Alternatively, the mover module can be directly tested during the equipment operation stage to obtain the load deviation information corresponding to the mover module and store it in a random read-write storage module.

[0098] It should be noted that the above control method can be executed by one control subject, such as a host computer or a local control device of a linear motor device. It can also be executed by multiple control subjects, for example, the local control device of the linear motor device and the host computer are implemented together, or the local control device of the linear motor device, the position measurement device and the host computer are implemented together, etc. Using one control subject has high integration and small size. Using multiple control subjects can decouple the steps of some control methods, reduce the computing pressure and increase the processing efficiency.

[0099] The moving stroke of the mover module is related to the moving control instruction, which includes at least the stroke parameter of the mover module, and may also include the speed parameter, acceleration parameter, moving direction, etc. of the mover module. When multiple control subjects are used, depending on the number of control subjects, the moving control instruction may be generated by the host computer according to the input operation and sent to the local control device of the linear motor device, or it may be a moving control instruction generated by the local control device according to the input operation.

[0100] Regarding the execution deviation information, the host computer may compare the expected operation position and the actual operation position of the actuator of the operating device, or the local control device of the linear motor may compare, or the position measurement device may compare. The execution deviation information may be stored in the host computer, or in the local control device, or in a storage module (such as a storage module of the position measurement device) externally connected to the host computer or the local control device.

[0101] The embodiment of the present application also provides a motor control device for a linear motor device, the motor control device includes a processor and a memory, the memory is used to store executable instructions of the processor, and the processor is configured to execute the control method of the above-mentioned linear motor device. The motor control device can be a local control device, and the local control device can include a display module and an input and output module; the motor control device can also be a host computer, such as a PLC (Programmable Logic Controller) or a PC (Personal Computer). For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0102] In this way, a control subject can be used to execute the control method provided in the embodiment of the present application. By executing the deviation information, the moving stroke of the target mover module can be corrected. The flexible controllability of the mover module can be used to eliminate the adverse operating results caused by the position deviation of the operating device, thereby ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, thereby smoothly interacting with the operating device, improving the operation success rate and accuracy of the operating device, and having stronger operability and higher deviation correction efficiency.

[0103] See again Figure 3 and Figure 4 As shown, the embodiment of the present application further provides a linear motor device, including a stator line body 10, a plurality of mover modules 20 movably arranged on the stator line body 10, and a local control device for executing the control method of the linear motor device, wherein the mover module 20 carries a carrier 30. For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0104] In this way, by executing the deviation information, the moving stroke of the target mover module is corrected, and the flexible controllability of the mover module is utilized to eliminate the adverse operating results caused by the position deviation of the operating device, ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, thereby smoothly interacting with the operating device, improving the operation success rate and accuracy of the operating device, and having stronger operability and higher deviation correction efficiency.

[0105] The embodiment of the present application also provides a production system, including: a motor control device, a linear motor device and an operating device. The specific structure, implementation principle, etc. of the motor control device and the linear motor device can refer to the description of the above-mentioned relevant embodiments and implementation methods. The operating device is used to interact with the target mover module. For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0106] In this way, by executing the deviation information, the moving stroke of the target mover module is corrected, and the flexible controllability of the mover module is utilized to eliminate the adverse operating results caused by the position deviation of the operating device, ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, thereby smoothly interacting with the operating device, improving the operation success rate and accuracy of the operating device, and having stronger operability and higher deviation correction efficiency.

[0107] When the control method is executed by multiple control subjects, the subjects for executing each step can be allocated according to the number of control subjects. For example, the multiple control subjects can be implemented by the local control device of the linear motor device and the host computer.

[0108] Taking the local control device side of the linear motor device as an example, the embodiment of the present application also provides a control method for the linear motor device.

[0109] This can include:

[0110] In response to the correction control instruction, a target mover module is determined among multiple mover modules, and execution deviation information of an operating device interacting with the target mover module is obtained. The target mover module is the mover module determined to interact with the operating device; the execution deviation information is the measured position deviation degree of the operating device when performing the operation.

[0111] Based on the execution deviation information, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the operating device, the supported object is at the operating target position.

[0112] The correction control instruction may be generated by the host computer and sent to the local control device of the linear motor device. The host computer may also generate a movement control instruction and send it to the local control device of the linear motor device.

[0113] In this way, the local control device of the linear motor equipment corrects the moving stroke of the target mover module according to the correction control instructions issued by the host computer by executing the deviation information, and utilizes the flexible controllability of the mover module to eliminate the adverse operating results caused by the position deviation of the operating device, ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, thereby smoothly interacting with the operating device, improving the operation success rate and accuracy of the operating device, and having stronger operability and higher deviation correction efficiency.

[0114] In some optional embodiments, in response to the correction control instruction, before determining the target mover module among the multiple mover modules and obtaining the execution deviation information of the operating device interacting with the target mover module, it may also include: in response to the measurement control instruction, performing position measurement on the actuator of the operating device or receiving the measurement result of the position measurement of the actuator of the operating device by the position measurement device, so as to determine the deviation between the actual operation position and the expected operation position when the operating device performs the operation, and obtain the execution deviation information of the operating device. The execution deviation information is used to characterize the deviation between the actual operation position and the expected operation position of the actuator.

[0115] In practical applications, the association between the operating device and the execution deviation information can be established through the correspondence between the identification information of the operating device (information used to distinguish the operating device) and the execution deviation information. For example, each operating device has its own identification information, and the execution deviation information corresponding to each operating device is established in a correspondence with the identification information of each operating device and stored in the storage module. In this way, after determining the operating device that interacts with the target mover module, the corresponding execution deviation information can be obtained by reading the identification information of the operating device, so as to correct the moving stroke of the target mover module.

[0116] Among them, the execution deviation information corresponding to the operating device that interacts with the target mover module can be obtained in advance to reduce the amount of calculation in the operation stage and improve the deviation correction efficiency (hereinafter referred to as static deviation correction). In the operation stage, after determining the operating device that interacts with the target mover module, the execution deviation information corresponding to the operating device can be directly read. It is also possible to measure and determine the execution deviation information corresponding to the operating device that interacts with the target mover module in real time during the operation stage (hereinafter referred to as dynamic deviation correction).

[0117] In some optional embodiments, when static deviation correction is adopted, in response to a measurement control instruction, position measurement is performed on the actuator of the operating device or a measurement result of position measurement performed on the actuator of the operating device by a position measurement device is received to determine the deviation between the actual operation position and the expected operation position when the operating device performs an operation, and the execution deviation information of the operating device is obtained, including at least one of the following:

[0118] (1a) In the equipment debugging stage, in response to the first measurement control instruction, when the actuator is determined to move to the first expected operation position, the first actual operation position of the actuator is measured, and the execution deviation information of the operation device is determined according to the deviation between the first actual operation position and the first expected operation position. In this case, the expected operation position and the actual operation position of the actuator can be measured by the local control device of the linear motor device, and the corresponding execution deviation information can be determined according to the deviation between the two positions.

[0119] (2a) In the equipment debugging stage, in response to the first measurement control instruction, when the actuator is determined to move to the first expected operation position, the first actual operation position of the actuator is measured and sent to the first processing device, so that the first processing device can determine the execution deviation information of the operating device according to the deviation between the first actual operation position and the first expected operation position; wherein the first processing device includes at least one of a host computer and a position measurement device. In this case, the expected operation position and the actual operation position of the actuator can be measured by the local control device of the linear motor device, and the corresponding execution deviation information can be determined by the host computer or the position measurement device according to the deviation between the two positions.

[0120] (3a) During the equipment debugging stage, a measurement result of a position measurement device measuring a position of an actuator of the operating device is received, and execution deviation information of the operating device is determined according to a deviation between the first actual operation position and the first expected operation position. In this case, the expected operation position and the actual operation position of the actuator can be measured by the position measurement device, and then the corresponding execution deviation information can be determined according to the deviation between the two positions by the local control device of the linear motor device.

[0121] It is understandable that during the equipment debugging phase, that is, before the formal operation, the execution deviation information corresponding to each operating device can be obtained according to the above method (1a) or (2a) or (3a). In this way, during the equipment operation phase, after the operating device that interacts with the target actuator module is determined, the execution deviation information corresponding to the operating device can be directly obtained.

[0122] The first measurement control instruction may be generated by a host computer and sent to a local control device of the linear motor device, and the host computer may also be used to determine the execution deviation information corresponding to each operation device according to the measurement result. Alternatively, the position measurement device may determine the execution deviation information corresponding to each operation according to the measurement result.

[0123] In some optional implementations, before correcting the moving stroke of the target mover module based on the execution deviation information, at least one of the following may also be included:

[0124] (1b) Storing the execution deviation information of the operating device in a non-volatile storage module.

[0125] (2b) Sending the execution deviation information of the operating device to a host computer, so that the host computer stores the carried object deviation information in a non-volatile storage module.

[0126] Accordingly, in response to the correction control instruction, acquiring the execution deviation information of the operating device interacting with the target mover module may include at least one of the following:

[0127] (1c) acquiring, from the non-volatile storage module, execution deviation information of an operating device interacting with the target actuator module;

[0128] (2c) acquiring execution deviation information of an operating device interacting with the target mover module from the correction control instruction.

[0129] It is understandable that during the equipment debugging stage, that is, before the formal operation, the execution deviation information corresponding to each operating device can be stored in non-volatile storage hardware, such as ROM (Read-Only Memory). Since the non-volatile storage hardware has a power-off retention function, the data read from the non-volatile storage hardware is fixed, and the deviation correction performed on the actuator module is a static deviation correction. The non-volatile storage hardware can be a non-volatile storage module included in the linear motor device, or it can be a non-volatile storage module external to the linear motor device. In this way, during the equipment operation stage, after the operating device that interacts with the target actuator module is determined, the execution deviation information corresponding to the operating device can be directly read from the non-volatile storage module.

[0130] It should be noted that, regarding static deviation correction, in this embodiment, the execution deviation information is stored in a non-volatile storage module. Alternatively, in other embodiments, the execution deviation information may also be stored in a host computer (or a storage module external to the host computer). During the operation phase, when the host computer issues a correction control instruction, the execution deviation information and the movement control instruction may be issued together to the local control device of the linear motor device. Alternatively, the execution deviation information may also be stored in the local control device of the linear motor. During the operation phase, when the host computer issues a correction control instruction, in response to the correction control instruction, the local control device obtains the execution deviation information of the operating device interacting with the target mover module and performs deviation correction.

[0131] In some optional embodiments, when dynamic deviation correction is adopted, the position measurement of the actuator of the operating device is performed in response to the measurement control instruction, or the measurement result of the position measurement of the actuator of the operating device by the position measurement device is received, so as to determine the deviation between the actual operation position and the expected operation position when the operating device performs the operation, and obtain the execution deviation information of the operating device, including at least one of the following:

[0132] (1d) In the equipment operation stage, in response to the second measurement control instruction, when the actuator is determined to move to the second expected operation position, the second actual operation position of the actuator is measured, and the execution deviation information of the operation device is determined according to the deviation between the second actual operation position and the second expected operation position; wherein the second expected operation position is the position where the operation device does not interact with the target mover module. In this case, the expected operation position and the actual operation position of the actuator can be measured by the local control device of the linear motor device, and the corresponding execution deviation information can be determined according to the deviation between the two positions.

[0133] (2d) In the equipment operation stage, in response to the second measurement control instruction, when the actuator is determined to move to the second expected operation position, the second actual operation position of the actuator is measured and sent to the first processing device, so that the first processing device can determine the execution deviation information of the operating device according to the deviation between the second actual operation position and the second expected operation position; wherein the second expected operation position is the position where the operating device does not interact with the target mover module, and the first processing device includes at least one of a host computer and a position measurement device. In this case, the expected operation position and the actual operation position of the actuator can be measured by the local control device of the linear motor device, and the corresponding execution deviation information can be determined by the host computer or the position measurement device according to the deviation between the two positions.

[0134] (3d) During the equipment operation phase, the position measurement result of the actuator of the operating device is received by the position measurement device, and the execution deviation information of the operating device is determined according to the deviation between the first actual operation position and the first expected operation position. In this case, the expected operation position and the actual operation position of the actuator can be measured by the position measurement device, and then the corresponding execution deviation information can be determined according to the deviation between the two positions by the local control device of the linear motor device.

[0135] It is understandable that, during the equipment operation phase, the execution deviation information corresponding to each operating device can be obtained according to the above method (1d) or (2d) or (3d). In this way, after the operating device that interacts with the target actuator module is determined, the execution deviation information corresponding to the operating device can be directly obtained.

[0136] The second measurement control instruction may be generated by the host computer and sent to the local control device of the linear motor device, and the host computer may also be used to determine the execution deviation information corresponding to each operating device according to the measurement result. Alternatively, the position measurement device may determine the execution deviation information corresponding to each operating device according to the measurement result.

[0137] In some optional implementations, before correcting the moving stroke of the target mover module based on the execution deviation information, at least one of the following is further included:

[0138] (1e) Storing the execution deviation information of the operating device in a random read and write storage module.

[0139] (2e) Sending the execution deviation information of the operating device to a host computer, so that the host computer stores the execution deviation information of the operating device in a random read-write storage module.

[0140] Accordingly, in response to the correction control instruction, acquiring the execution deviation information of the operating device interacting with the target mover module includes at least one of the following:

[0141] (1f) acquiring, from the random read / write storage module, execution deviation information of an operating device interacting with the target actuator module;

[0142] (2f) acquiring execution deviation information of an operating device interacting with the target mover module from the correction control instruction.

[0143] It can be understood that, during the equipment operation stage, the execution deviation information corresponding to each operating device can be obtained according to the above method (1d) or (2d) or (3d), and stored in random read-write storage hardware, such as RAM (Random Access Memory) and flash memory. Since the random read-write storage hardware will be continuously refreshed, the information can be updated after obtaining new execution deviation information. The data read from the random read-write storage hardware may be updated data, so the deviation correction performed on the actuator module is dynamic deviation correction. The random read-write storage hardware can be a random read-write storage module included in the linear motor device, or a random read-write storage module external to the linear motor device. In this way, during the equipment operation stage, after the operating device that interacts with the target actuator module is determined, the execution deviation information corresponding to the operating device can be directly read from the non-volatile storage module.

[0144] It should be noted that, regarding dynamic deviation correction, in this embodiment, the execution deviation information is stored in a random read-write storage module. Alternatively, in other embodiments, the execution deviation information may also be stored in a host computer (or a storage module external to the host computer). During the operation phase, when the host computer issues a correction control instruction, the execution deviation information and the movement control instruction are sent together to the local control device of the linear motor device. Alternatively, the execution deviation information may also be stored in the local control device of the linear motor. During the operation phase, when the host computer issues a correction control instruction, in response to the correction control instruction, the local control device obtains the execution deviation information of the operating device that interacts with the target mover module and performs deviation correction.

[0145] In some optional implementations, the correcting the moving stroke of the target mover module based on the execution deviation information further includes at least one of the following:

[0146] (1) Obtaining the control parameters of the target mover module, and correcting the interactive specified position indicated by the control parameters according to the execution deviation information. In this case, the local control device of the linear motor device directly determines the correction amount for correcting the interactive specified position indicated by the control parameters of the target mover module according to the execution deviation information and executes it.

[0147] (2) Obtaining the control parameters of the target mover module and sending them to the host computer, so that the host computer can generate a correction control instruction including correction of the interactive specified position indicated by the control parameter according to the execution deviation information. In this case, the host computer determines the correction amount for correcting the interactive specified position indicated by the control parameter of the target mover module according to the execution deviation information, and generates a correction control instruction including the correction amount and sends it to the local control device of the linear motor device for execution.

[0148] It can be understood that according to the execution deviation information, the moving stroke of the target mover module is corrected, which can be understood as adjusting the control parameters of the target mover module, that is, by adjusting at least one of the movement direction, movement speed, acceleration, and deceleration of the target mover module, ensuring that the target mover module completes the corrected moving stroke, thereby adjusting the position of the target mover module when it finally stops, so that the carrier can correspond to the actuator of the operating device. The interactive specified position indicated by the control parameter can be represented by a distance or a position point. In the case of static deviation correction, the target mover module can be counted from the last interactive position or starting position, and the dynamic deviation correction can be the same as the static deviation correction.

[0149] In some optional implementations, the correcting the moving stroke of the target mover module based on the execution deviation information includes at least one of the following:

[0150] (1) Based on the motion increment information from the actuator, determine the movement increment of the target mover module that matches the motion increment information, and correct the movement increment according to the execution deviation information; wherein the motion increment information of the actuator is used to characterize the position change that occurs in a single movement of the actuator. In this case, the local control device of the linear motor device directly determines and executes the correction amount for correcting the movement increment of the target mover module based on the execution deviation information. Specifically, the motion increment information of the actuator can characterize the position change that occurs in this movement of the actuator, or the motion increment information of the actuator can characterize the position change that will occur in the next movement of the actuator.

[0151] (2) Based on the motion increment information from the actuator, determine the movement increment of the target mover module that matches the motion increment information and send it to the host computer, so that the host computer can generate a correction control instruction containing corrections to the movement increment according to the execution deviation information; wherein the motion increment information of the actuator is used to characterize the position change that occurs in a single movement of the actuator. In this case, the host computer determines the correction amount for correcting the movement increment of the target mover module according to the execution deviation information, and generates a correction control instruction containing the correction amount and sends it to the local control device of the linear motor device for execution.

[0152] In some optional implementations, the control method further includes at least one of the following:

[0153] (1) When the operating device interacts with the target mover module, in response to a measurement control instruction, the position of the actuator of the operating device is measured or the measurement result of the position measurement device on the actuator of the operating device is received, and the execution deviation information of the operating device is updated according to the relative position deviation between the target mover module and the actuator. In this case, the position of the actuator of the operating device is re-measured by the local control device or the position measurement device of the linear motor device, and then the local control device of the linear motor device re-determines and updates the execution deviation information of the operating device according to the relative position deviation between the actuator and the target mover module.

[0154] (2) When the operating device interacts with the target mover module, in response to the measurement control instruction, the position of the actuator of the operating device is measured and sent to the host computer, so that the host computer can update the execution deviation information of the operating device according to the relative position deviation between the target mover module and the actuator. In this case, the position of the actuator of the operating device is re-measured by the local control device of the linear motor device, and then the host computer re-determines and updates the execution deviation information of the operating device according to the relative position deviation between the actuator and the target mover module.

[0155] In some optional implementations, the control method further includes at least one of the following:

[0156] (1) Obtaining the load deviation information of the target mover module, and correcting the moving stroke of the target mover module according to the load deviation information, so that when the target stator module moves to interact with the operating device, the load is in the operating target position; wherein the load deviation information is the measured position deviation degree of the load. In this case, the load deviation information is directly obtained from the storage module by the local control device of the linear machine device, and then the moving stroke of the target mover module is corrected according to the load deviation information.

[0157] (2) Obtaining the load deviation information of the target mover module from the correction control instruction, and correcting the moving stroke of the target mover module according to the load deviation information, so that when the target stator module moves to interact with the operating device, the load is in the operating target position; wherein the load deviation information is the measured position deviation degree of the load. In this case, a correction control instruction containing the load deviation information can be generated by the host computer and sent to the local control device of the linear motor device, and the local control device then corrects the moving stroke of the target mover module according to the load deviation information.

[0158] In some optional implementations, after the moving stroke of the target mover module is corrected based on the execution deviation information, the method may further include any one of the following:

[0159] (1g) Based on the position information of the load carried by the target mover module, it is determined whether the moving stroke of the target mover module is calibrated successfully.

[0160] (2g) Based on the position information of the load carried by the target mover module, determine whether the moving stroke of the target mover module is calibrated successfully, and send the calibration result to the host computer.

[0161] (3g) Based on the correction feedback result of the position measurement device, it is determined whether the movement stroke of the target mover module is successfully corrected.

[0162] (4g) Based on the correction feedback result of the position measurement device, it is determined whether the movement stroke of the target mover module is corrected successfully, and the correction result is sent to the host computer.

[0163] It is understandable that in this embodiment, after the deviation correction is completed, the local control device or position measurement device of the linear motor can confirm whether the deviation correction is successful according to the position information of the carried object, and feedback the correction result information (correction success or failure) to the host computer. Alternatively, in other embodiments, the host computer can also confirm whether the deviation correction is successful according to the position information of the carried object.

[0164] The embodiment of the present application also provides a motor control device for a linear motor device, which is used to execute the control method on the local control device side of the linear motor device, so as to be used as a local control device of the linear motor device. Specifically, the motor control device may include: a processor and a memory, the memory is used to store executable instructions of the processor, and the processor is configured to execute the control method on the local control device side of the linear motor device. The motor control device may be, for example, a local control device with a display module and an input-output module. For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0165] In this way, by executing the deviation information, the moving stroke of the target mover module is corrected, and the flexible controllability of the mover module is utilized to eliminate the adverse operating results caused by the position deviation of the operating device, ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, thereby smoothly interacting with the operating device, improving the operation success rate and accuracy of the operating device, and having stronger operability and higher deviation correction efficiency.

[0166] The embodiment of the present application also provides a linear motor device, including a stator line body, a plurality of mover modules movably arranged on the stator line body, and a local control device for executing the local control device side control method of the linear motor device, wherein the mover module carries a carrier. For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0167] The embodiment of the present application also provides a production system, including: a linear motor device, a host computer and an operating device. The linear motor device includes a stator line body, a plurality of movable submodules movably arranged on the stator line body, and a local control device for executing the control method of the local control device side of the above-mentioned linear motor device, wherein the movable submodule is used to carry the carrier to move. The host computer is used to generate correction control instructions and movement control instructions and send them to the local control device of the linear motor device. The operating device is used to interact with the target movable submodule. The host computer can be, for example, a PLC (Programmable Logic Controller) or a PC (Personal Computer). For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0168] In this way, by executing the deviation information, the moving stroke of the target mover module is corrected, and the flexible controllability of the mover module is utilized to eliminate the adverse operating results caused by the position deviation of the operating device, ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, thereby smoothly interacting with the operating device, improving the operation success rate and accuracy of the operating device, and having stronger operability and higher deviation correction efficiency.

[0169] Taking the host computer side as an example, the present application embodiment provides a control method for a linear motor device, including:

[0170] A target mover module is determined among multiple mover modules, and execution deviation information of an operating device interacting with the target mover module is obtained; wherein the target mover module is a mover module determined to interact with the operating device; and the execution deviation information is a measured degree of position deviation of the operating device when performing an operation.

[0171] Based on the execution deviation information, a correction control instruction is generated.

[0172] The correction control instruction is sent to the linear motor device to correct the moving stroke of the target mover module, so that when the target stator module moves to interact with the operating device, the carrier is in the operating target position.

[0173] The correction control instruction may be executed by a local control device of the linear motor device, and the host computer may also generate a movement control instruction and send it to the local control device of the linear motor device.

[0174] In this way, the local control device of the linear motor equipment corrects the moving stroke of the target mover module according to the correction control instructions issued by the host computer by executing the deviation information, and utilizes the flexible controllability of the mover module to eliminate the adverse operating results caused by the position deviation of the operating device, ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, thereby smoothly interacting with the operating device, improving the operation success rate and accuracy of the operating device, and having stronger operability and higher deviation correction efficiency.

[0175] In some optional embodiments, before generating a correction control instruction based on the execution deviation information, it may also include: generating a measurement control instruction and sending it to a second processing device to perform position measurement on the actuator of the operating device to determine the deviation between the actual operating position and the expected operating position when the operating device performs an operation, and obtain the execution deviation information of the operating device; wherein the execution deviation information is used to characterize the deviation between the actual operating position and the expected operating position of the operating device; the second processing device includes a linear motor device or a position measurement device.

[0176] In practical applications, the association between the operating device and the execution deviation information can be established through the correspondence between the identification information of the operating device (information used to distinguish the operating device) and the execution deviation information. For example, each operating device has its own identification information, and the execution deviation information corresponding to each operating device is established in a correspondence with the identification information of each operating device and stored in the storage module. In this way, after determining the operating device that interacts with the target mover module, the corresponding execution deviation information can be obtained by reading the identification information of the operating device, so as to correct the moving stroke of the target mover module.

[0177] Among them, the execution deviation information corresponding to the operating device that interacts with the target mover module can be obtained in advance to reduce the amount of calculation in the operation stage and improve the deviation correction efficiency (hereinafter referred to as static deviation correction). In the operation stage, after determining the operating device that interacts with the target mover module, the execution deviation information corresponding to the operating device can be directly read. It is also possible to measure and determine the execution deviation information corresponding to the operating device that interacts with the target mover module in real time during the operation stage (hereinafter referred to as dynamic deviation correction).

[0178] In some optional implementations, when static deviation correction is adopted, a measurement control instruction is generated and sent to a second processing device to perform position measurement on an actuator of the operating device to determine a deviation between an actual operating position and an expected operating position when the operating device performs an operation, and to obtain execution deviation information of the operating device, including at least one of the following:

[0179] (1h) During the equipment debugging stage, a first measurement control instruction is generated and sent to the second processing device, so that the second processing device measures the first actual operation position of the actuator when the actuator is determined to move to the first expected operation position, and determines the execution deviation information of the operating device according to the deviation between the first actual operation position and the first expected operation position; the second processing device includes a linear motor device or a position measurement device. In this case, the expected operation position and the actual operation position of the actuator can be measured by the local control device or the position measurement device of the linear motor device, and the corresponding execution deviation information can be determined according to the deviation between the two positions.

[0180] (2h) During the equipment debugging stage, a first measurement control instruction is generated and sent to the second processing device, and the first actual operation position of the actuator measured by the second processing device when the actuator is determined to move to the first expected operation position is received, and then the execution deviation information of the operating device is determined according to the deviation between the first actual operation position and the first expected operation position; the second processing device includes a linear motor device or a position measurement device. In this case, the expected operation position and the actual operation position of the actuator can be measured by the local control device or the position measurement device of the linear motor device, and then the upper computer determines the corresponding execution deviation information according to the deviation between the two positions.

[0181] It is understandable that during the equipment debugging stage, that is, before the formal operation, the execution deviation information corresponding to each operating device can be obtained according to the above method (1h) or (2h). In this way, during the equipment operation stage, after the operating device that interacts with the target mover module is determined, the execution deviation information corresponding to the operating device can be directly obtained.

[0182] The first measurement control instruction may be executed by a local control device or a position measurement device of the linear motor device.

[0183] In some optional implementations, before acquiring the execution deviation information of the operating device interacting with the target mover module, at least one of the following may also be included:

[0184] (1i) Storing the execution deviation information of the operating device in a non-volatile storage module.

[0185] (2i) Sending the execution deviation information of the operating device to the linear motor device, so that the linear motor device stores the load deviation information in a non-volatile storage module.

[0186] Accordingly, obtaining the execution deviation information of the operating device interacting with the target mover module may include at least one of the following:

[0187] (1j) acquiring, from the non-volatile storage module, execution deviation information of an operating device interacting with the target actuator module;

[0188] (2j) Acquiring execution deviation information of an operating device interacting with the target mover module from the linear motor device.

[0189] It is understandable that during the equipment debugging stage, that is, before the formal operation, the execution deviation information corresponding to each operating device can be stored in non-volatile storage hardware, such as ROM (Read-Only Memory). Since the non-volatile storage hardware has a power-off retention function, the data read from the non-volatile storage hardware is fixed, and the deviation correction performed on the actuator module is a static deviation correction. The non-volatile storage hardware can be a non-volatile storage module included in the linear motor device, or it can be a non-volatile storage module external to the linear motor device. In this way, during the equipment operation stage, after the operating device that interacts with the target actuator module is determined, the execution deviation information corresponding to the operating device can be directly read from the non-volatile storage module.

[0190] It should be noted that, regarding static deviation correction, in this embodiment, the execution deviation information is stored in a non-volatile storage module. During the operation stage, when the host computer issues a correction control instruction, the execution deviation information and the movement control instruction can be sent to the local control device of the linear motor device together. Alternatively, in other embodiments, the execution deviation information can also be stored in the local control device of the linear motor (or a storage module external to the local control device of the linear motor). During the operation stage, when the host computer issues a correction control instruction, in response to the movement control instruction, the local control device obtains the execution deviation information of the operating device interacting with the target mover module and performs deviation correction.

[0191] In some optional implementations, when dynamic deviation correction is adopted, a measurement control instruction is generated and sent to a second processing device to perform position measurement on an actuator of the operating device to determine a deviation between an actual operating position and an expected operating position when the operating device performs an operation, and the execution deviation information of the operating device is obtained, which may include at least one of the following:

[0192] (1k) During the equipment operation phase, the generated second measurement control instruction is sent to the second processing device, so that when the actuator is determined to move to the second expected operation position, the second processing device measures the second actual operation position of the actuator, and determines the execution deviation information of the operating device according to the deviation between the second actual operation position and the second expected operation position; wherein the second expected operation position is the position where the operating device does not interact with the target mover module; the second processing device includes a linear motor device or a position measurement device. In this case, the expected operation position and the actual operation position of the actuator can be measured by the local control device or the position measurement device of the linear motor device, and the corresponding execution deviation information can be determined according to the deviation between the two positions.

[0193] (2k) During the equipment operation phase, the generated second measurement control instruction is sent to the second processing device, and the second actual operation position of the actuator measured by the second processing device when the actuator is determined to move to the second expected operation position is received, and then the execution deviation information of the operating device is determined according to the deviation between the second actual operation position and the second expected operation position; wherein the second expected operation position is the position where the operating device does not interact with the target mover module; the second processing device includes a linear motor device or a position measurement device. In this case, the expected operation position and the actual operation position of the actuator can be measured by the local control device or the position measurement device of the linear motor device, and then the upper computer determines the corresponding execution deviation information according to the deviation between the two positions.

[0194] It is understandable that during the equipment operation phase, the execution deviation information corresponding to each operating device can be obtained according to the above (1k) or (2k). In this way, after the operating device interacting with the target mover module is determined, the execution deviation information corresponding to the operating device can be directly obtained.

[0195] The second measurement control instruction may be executed by a local control device or a position measurement device of the linear motor device. The local control device of the linear motor device may also be used to determine the execution deviation information corresponding to each of the mover modules. Alternatively, the execution deviation information corresponding to each of the mover modules may be determined by the position measurement device.

[0196] In some optional implementations, before acquiring the execution deviation information of the operating device interacting with the target mover module, at least one of the following may also be included:

[0197] (11) Storing the execution deviation information of the operating device in a random read and write storage module.

[0198] (21) Sending the execution deviation information of the operating device to the linear motor device, so that the linear motor device stores the execution deviation information of the operating device in a random read / write storage module.

[0199] Accordingly, obtaining the execution deviation information of the operating device interacting with the target mover module may include at least one of the following:

[0200] (1m) acquiring, from the random read / write storage module, execution deviation information of an operating device interacting with the target actuator module;

[0201] (2m) Acquiring execution deviation information of an operating device interacting with the target mover module from the linear motor device.

[0202] It can be understood that, during the equipment operation stage, the execution deviation information corresponding to each operating device can be obtained according to the above (1k) or (2k), and stored in random read-write storage hardware, such as RAM (Random Access Memory) and flash memory. Since the random read-write storage hardware will be continuously refreshed, the information can be updated after obtaining new execution deviation information. The data read from the random read-write storage hardware may be updated data, so the deviation correction performed on the actuator module is dynamic deviation correction. The random read-write storage hardware can be a random read-write storage module included in the linear motor device, or it can be a random read-write storage module external to the linear motor device. In this way, during the equipment operation stage, after the operating device that interacts with the target actuator module is determined, the execution deviation information corresponding to the operating device can be directly read from the non-volatile storage module.

[0203] It should be noted that, regarding dynamic deviation correction, in this embodiment, the execution deviation information is stored in a random read-write storage module. During the operation stage, when the host computer issues a correction control instruction, the execution deviation information and the movement control instruction can be sent to the local control device of the linear motor device together. Alternatively, in other embodiments, the execution deviation information can also be stored in the local control device of the linear motor (or a storage module external to the local control device of the linear motor). During the operation stage, when the host computer issues a correction control instruction, the local control device obtains the vehicle deviation information and performs deviation correction in response to the correction control instruction.

[0204] In some optional implementations, sending the correction control instruction to the linear motor device to correct the moving stroke of the target mover module further includes at least one of the following:

[0205] (1) Obtaining the control parameters of the target mover module, and generating a correction control instruction including correction of the interactive specified position indicated by the control parameters according to the execution deviation information. In this case, the host computer directly obtains the control parameters of the target mover module, and generates a correction control instruction including correction of the interactive specified position indicated by the control parameters according to the execution deviation information.

[0206] (2) Obtaining the control parameters of the target mover module from the linear motor device, and generating a correction control instruction including correction of the interactive specified position indicated by the control parameter according to the execution deviation information. In this case, the host computer obtains the control parameters of the target mover module from the linear motor device, and then generates a correction control instruction including correction of the interactive specified position indicated by the control parameter according to the execution deviation information.

[0207] It can be understood that according to the execution deviation information, the moving stroke of the target mover module is corrected, which can be understood as adjusting the control parameters of the target mover module, that is, by adjusting at least one of the movement direction, movement speed, acceleration, and deceleration of the target mover module, ensuring that the target mover module completes the corrected moving stroke, thereby adjusting the position of the target mover module when it finally stops, so that the carrier can correspond to the actuator of the operating device. The interactive specified position indicated by the control parameter can be represented by a distance or a position point. In the case of static deviation correction, the target mover module can be counted from the last interactive position or starting position, and the dynamic deviation correction can be the same as the static deviation correction.

[0208] In some optional implementations, sending the correction control instruction to the linear motor device to correct the moving stroke of the target mover module includes at least one of the following:

[0209] (1) Based on the motion increment information from the actuator, determine the movement increment of the target mover module that matches the motion increment information, and generate a correction control instruction containing a correction for the movement increment based on the execution deviation information; wherein the motion increment information of the actuator is used to characterize the position change that occurs in a single movement of the actuator. In this case, the upper computer directly determines the movement increment of the target mover module based on the motion increment information of the actuator, and generates a correction control instruction containing a correction for the movement increment based on the execution deviation information. Specifically, the motion increment information of the actuator can characterize the position change that occurs in this movement of the actuator, or the motion increment information of the actuator can characterize the position change that will occur in the next movement of the actuator.

[0210] (2) Receiving the movement increment of the target mover module that matches the movement increment information determined based on the movement increment information from the actuator, and generating a correction control instruction including correction of the movement increment according to the execution deviation information; wherein the movement increment information of the actuator is used to characterize the position change that occurs in a single movement of the actuator. In this case, the movement increment of the target mover module can be determined by the linear motor device according to the movement increment information of the actuator, and sent to the host computer, and the host computer generates a correction control instruction including correction of the movement increment according to the execution deviation information.

[0211] In some optional implementations, the control method further includes at least one of the following:

[0212] (1) When the operating device interacts with the target mover module, a measurement control instruction is generated for causing the second processing device to measure the position of the actuator of the operating device, and the execution deviation information of the operating device is updated according to the relative position deviation between the target mover module and the actuator fed back by the second processing device. In this case, the position of the actuator of the operating device is re-measured by the second processing device such as the local control device or the position measurement device of the linear motor device, and then the upper computer re-determines and updates the execution deviation information of the operating device according to the relative position deviation between the actuator and the target mover module.

[0213] (2) When the operating device interacts with the target mover module, a measurement control instruction is generated to enable the second processing device to measure the position of the actuator of the operating device, so that the second processing device updates the execution deviation information of the operating device according to the relative position deviation between the target mover module and the actuator. In this case, the position of the actuator of the operating device is re-measured by the second processing device such as the local control device or the position measurement device of the linear motor device, and the execution deviation information of the operating device is re-determined and updated according to the relative position deviation between the actuator and the target mover module.

[0214] In some optional implementations, the control method further includes at least one of the following:

[0215] (1) Obtaining the load deviation information of the target mover module, and generating a correction control instruction for correcting the moving stroke of the target mover module based on the load deviation information, so that when the target stator module moves to interact with the operating device, the load is in the operating target position; wherein the load deviation information is the measured position deviation degree of the load. In this case, the load deviation information is directly obtained from the storage module by the host computer, and then the correction control instruction for correcting the moving stroke of the target mover module is generated based on the load deviation information.

[0216] (2) Obtaining the load deviation information of the target mover module from the linear motor device, and generating a correction control instruction for correcting the moving stroke of the target mover module based on the load deviation information, so that when the target stator module moves to interact with the operating device, the load is in the operating target position; wherein the load deviation information is the measured position deviation degree of the load. In this case, the host computer obtains the load deviation information from the linear motor device, and then generates a correction control instruction for correcting the moving stroke of the target mover module based on the load deviation information.

[0217] In some optional embodiments, after sending the correction control instruction to the linear motor device to correct the moving stroke of the target mover module, the method further includes any one of the following:

[0218] (1n) judging whether the moving stroke of the target mover module is calibrated successfully based on the position information of the load carried by the target mover module;

[0219] (2n) judging whether the moving stroke of the target mover module is calibrated successfully based on the position information of the load carried by the target mover module, and sending the calibration result to the linear motor device;

[0220] (3n) judging whether the movement stroke of the target mover module is successfully calibrated based on the correction feedback result of the position measurement device;

[0221] (4n) Based on the correction feedback result of the position measurement device, it is determined whether the moving stroke of the target mover module is successfully corrected, and the correction result is sent to the linear motor device.

[0222] It is understandable that in this embodiment, after the deviation correction is completed, the host computer can confirm whether the deviation correction is successful based on the position information of the supported object. Alternatively, in other embodiments, the local control device or position measurement device of the linear motor can confirm whether the deviation correction is successful based on the position information of the supported object, and feedback the correction result information (correction success or failure) to the host computer.

[0223] The embodiment of the present application also provides a motor control device, including: a processor and a memory, the memory is used to store executable instructions of the processor, and the processor is configured to execute the above-mentioned host computer side control method. Optionally, the motor control device can be, for example, a PLC (Programmable Logic Controller) or a PC (Personal Computer). For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0224] In this way, by executing the deviation information, the moving stroke of the target mover module is corrected, and the flexible controllability of the mover module is utilized to eliminate the adverse operating results caused by the position deviation of the operating device, ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, thereby smoothly interacting with the operating device, improving the operation success rate and accuracy of the operating device, and having stronger operability and higher deviation correction efficiency.

[0225] The embodiment of the present application provides a production system, including: a motor control device, a linear motor device and an operating device for executing the control method on the host computer side. The linear motor device includes a stator line body, a plurality of mover modules movably arranged on the stator line body, and a local control device, the mover module is used to carry the load to move, and the motor control device is used to execute the control method described in any of the above embodiments. The operating device is used to interact with the target mover module. For details, please refer to the description of the relevant parts above, which will not be repeated here.

[0226] In this way, by executing the deviation information, the moving stroke of the target mover module is corrected, and the flexible controllability of the mover module is utilized to eliminate the adverse operating results caused by the position deviation of the operating device, ensuring that when the target mover module moves to interact with the operating device, the carrier can be accurately in the operating target position, thereby smoothly interacting with the operating device, improving the operation success rate and accuracy of the operating device, and having stronger operability and higher deviation correction efficiency.

[0227] See also Figure 8 As shown, in one embodiment, a production system adopts static deviation correction when the control method is executed by multiple control subjects.

[0228] During the equipment debugging stage, the host computer generates a measurement control instruction for measuring the position information of the actuator of the operating device, and the measurement control instruction includes a movement control instruction for controlling the movement of the mover module and the operating device. The local control device of the linear motor device responds to the movement control instruction of the host computer, controls the movement of each mover module and determines the operating device that interacts with the target mover module, and controls the movement of the actuator of the operating device, and then measures the actual operating position and expected operating position of the actuator through the position measurement device and uploads them to the host computer. The host computer determines the execution deviation information of the operating device that interacts with the target mover module based on the difference between the actual operating position information of the actuator and the expected operating position, and then the local control device of the linear motor device stores it in the non-volatile storage module.

[0229] During the equipment operation stage, the host computer generates a correction control instruction (which may include a movement control instruction, or include execution deviation information and movement control instructions at the same time) and sends it to the local control device of the linear motor equipment. The local control device of the linear motor equipment responds to the correction control instruction of the host computer, controls the movement of the mover module, and reads the execution deviation information corresponding to the operating device that interacts with the target mover module from the non-volatile storage module, and performs deviation correction on the movement stroke of the target mover module.

[0230] After the target mover module moves into position, the position measurement device can measure the actual position information of the carrier again and upload it to the host computer. The host computer determines whether the moving stroke of the target mover module is calibrated successfully and sends the calibration result to the linear motor device.

[0231] See also Fig. 9 As shown, in one embodiment, a production system adopts dynamic deviation correction when the control method is executed by multiple control subjects.

[0232] During the equipment operation phase, the host computer generates correction control instructions, which include measurement control instructions for measuring position information of the actuator of the operating device and movement control instructions for controlling the movement of the mover module and the operating device.

[0233] The local control device of the linear motor device responds to the upper movement control instruction to control the movement of each mover module and the movement of the actuator of the operating device. The actual operation position and the expected operation position of the actuator are measured by the position measurement device and fed back to the local control device of the linear motor device. The local control device of the linear motor device determines the execution deviation information of the operating device interacting with the target mover module according to the difference between the actual operation position information and the expected operation position of the actuator, and then feeds back to the host computer, which stores the execution deviation information in the random read storage module.

[0234] The local control device of the linear motor device reads the execution deviation information of the operating device interacting with the target mover module in the randomly read storage module, and the local control device of the linear motor device performs deviation correction on the moving stroke of the target mover module according to the execution deviation information.

[0235] After the target mover module moves into position, the position measurement device can measure the actual position information of the carrier again and upload it to the host computer. The host computer determines whether the moving stroke of the target mover module is calibrated successfully and sends the calibration result to the linear motor device.

[0236] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A control method for a linear motor device, characterized in that: The linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry the load to move; the control method comprises: Determine a target mover module among a plurality of mover modules, wherein the target mover module is a mover module that is determined to be driven toward the operating device for interaction; Acquire execution deviation information of an operating device interacting with the target mover module, wherein the execution deviation information is a measured position deviation degree of the operating device when performing an operation; According to the execution deviation information, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the operating device, the carried object is at the operating target position.

2. The control method according to claim 1, characterized in that: Before acquiring the execution deviation information of the operating device interacting with the target mover module, the method further includes: The position of the actuator of the operating device is measured to determine the deviation between the actual operating position and the expected operating position when the operating device performs an operation, and obtain the execution deviation information of the operating device.

3. The control method according to claim 2, characterized in that: The performing position measurement on the actuator of the operating device to determine the deviation between the actual operating position and the expected operating position when the operating device performs the operation, and obtaining the execution deviation information of the operating device, includes: During the equipment debugging stage, when the actuator is determined to move to the first expected operating position, measuring the first actual operating position of the actuator; Determine execution deviation information of the operating device according to a deviation between the first actual operating position and the first expected operating position.

4. The control method according to claim 3, characterized in that: After determining the execution deviation information of the operating device according to the deviation between the first actual operating position and the first expected operating position, the method further includes: storing the execution deviation information of the operating device in a non-volatile storage module; The acquiring of the execution deviation information of the operating device interacting with the target mover module includes: acquiring, from the non-volatile storage module, the execution deviation information of the operating device interacting with the target mover module.

5. The control method according to claim 2, characterized in that: The performing position measurement on the actuator of the operating device to determine the deviation between the actual operating position and the expected operating position when the operating device performs the operation, and obtaining the execution deviation information of the operating device, includes: During the equipment operation phase, when the actuator is determined to move to a second expected operating position, a second actual operating position of the actuator is measured, wherein the second expected operating position is a position where the operating device does not interact with the target mover module; The execution deviation information of the operating device is determined according to the deviation between the second actual operating position and the second expected operating position.

6. The control method according to claim 5, characterized in that: After determining the execution deviation information of the operating device according to the deviation between the second actual operating position and the second expected operating position, the method further includes: storing the execution deviation information of the operating device in a random read / write storage module; The acquiring of the execution deviation information of the operating device interacting with the target mover module includes: acquiring the execution deviation information of the operating device interacting with the target mover module from the random read / write storage module.

7. The control method according to claim 2, characterized in that: The measuring the position of the actuator of the operating device comprises: determining an expected operating position of the actuator based on the reference object; When it is determined that the actuator moves to an expected operating position corresponding to a reference object, the actual operating position of the actuator is measured, wherein the reference object is the mover module or a marker arranged along the stator line.

8. The control method according to claim 1, characterized in that: The correcting the moving stroke of the target mover module according to the execution deviation information includes: acquiring control parameters of the target mover module, and correcting the interactive designated position indicated by the control parameters according to the execution deviation information.

9. The control method according to claim 1, characterized in that: After the moving stroke of the target mover module is corrected according to the execution deviation information, the method further includes: At least one of the movement direction, movement speed, acceleration and deceleration of the target mover module is adjusted according to the corrected movement stroke of the target mover module.

10. The control method according to claim 1, characterized in that: The step of correcting the moving stroke of the target mover module according to the execution deviation information includes: Based on the motion increment information of the actuator from the operating device, the movement increment of the target mover module matching the motion increment information is determined, and the movement increment is corrected according to the execution deviation information; wherein the motion increment information of the actuator is used to characterize the position change occurring in a single movement of the actuator.

11. The control method according to claim 10, characterized in that: The correcting the movement increment according to the execution deviation information includes: When the accumulated number of movement increments of the target moving submodule reaches a preset number threshold, the currently accumulated movement increment is corrected.

12. The control method according to claim 1, characterized in that: The method further comprises: When the operating device interacts with the target mover module, the position of the actuator of the operating device is measured, and the execution deviation information of the operating device is updated according to the relative position deviation between the target mover module and the actuator.

13. The control method according to claim 1, characterized in that: The method further includes: acquiring the load deviation information of the target mover module, wherein the load deviation information is the position deviation degree of the load obtained by measurement; According to the object deviation information, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the operating device, the object is at the operating target position.

14. A control method for a linear motor device, characterized in that: The linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry the load to move; the control method comprises: In response to the correction control instruction, a target mover module is determined among a plurality of mover modules, and execution deviation information of an operating device interacting with the target mover module is obtained; wherein the target mover module is a mover module determined to interact with the operating device; and the execution deviation information is a measured position deviation degree of the operating device when performing an operation; Based on the execution deviation information, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the operating device, the supported object is at the operating target position.

15. The control method according to claim 14, characterized in that: In response to the correction control instruction, before determining a target mover module among a plurality of mover modules and acquiring execution deviation information of an operating device interacting with the target mover module, the method further includes: In response to the measurement control instruction, the position measurement of the actuator of the operating device is performed or the measurement result of the position measurement of the actuator of the operating device by the position measurement device is received to determine the deviation between the actual operating position and the expected operating position when the operating device performs the operation, and obtain the execution deviation information of the operating device.

16. The control method according to claim 15, characterized in that: In response to the measurement control instruction, position measurement is performed on the actuator of the operating device or a measurement result of position measurement performed on the actuator of the operating device by a position measurement device is received to determine the deviation between the actual operation position and the expected operation position when the operating device performs the operation, and the execution deviation information of the operating device is obtained, including at least one of the following: In the equipment debugging stage, in response to the first measurement control instruction, when the actuator is determined to move to the first expected operating position, the first actual operating position of the actuator is measured, and the execution deviation information of the operating device is determined according to the deviation between the first actual operating position and the first expected operating position; In the equipment debugging stage, in response to the first measurement control instruction, when the actuator is determined to move to the first expected operation position, the first actual operation position of the actuator is measured and sent to the first processing device, so that the first processing device determines the execution deviation information of the operating device according to the deviation between the first actual operation position and the first expected operation position; wherein the first processing device includes at least one of a host computer and a position measurement device; During the equipment debugging stage, a measurement result of a position measurement device on an actuator of the operating device is received, and execution deviation information of the operating device is determined according to a deviation between the first actual operating position and the first expected operating position.

17. The control method according to claim 15, characterized in that: Based on the execution deviation information, before correcting the moving stroke of the target mover module, at least one of the following is further included: Storing the execution deviation information of the operating device in a non-volatile storage module; Sending the execution deviation information of the operating device to a host computer, so that the host computer stores the carried object deviation information in a non-volatile storage module; In response to the correction control instruction, acquiring execution deviation information of an operating device interacting with the target mover module includes at least one of the following: Acquiring, from the non-volatile storage module, execution deviation information of an operating device interacting with the target actuator module; Execution deviation information of an operating device interacting with the target mover module is acquired from the correction control instruction.

18. The control method according to claim 15, characterized in that: In response to the measurement control instruction, position measurement is performed on the actuator of the operating device or a measurement result of position measurement of the actuator of the operating device by a position measurement device is received to determine the deviation between the actual operation position and the expected operation position when the operating device performs the operation, and to obtain the execution deviation information of the operating device, including at least one of the following: In the equipment operation stage, in response to the second measurement control instruction, when the actuator is determined to move to the second expected operating position, the second actual operating position of the actuator is measured, and the execution deviation information of the operating device is determined according to the deviation between the second actual operating position and the second expected operating position; wherein the second expected operating position is a position where the operating device does not interact with the target mover module; In the equipment operation stage, in response to the second measurement control instruction, when the actuator is determined to move to the second expected operating position, the second actual operating position of the actuator is measured and sent to the first processing device, so that the first processing device determines the execution deviation information of the operating device according to the deviation between the second actual operating position and the second expected operating position; wherein the second expected operating position is a position where the operating device does not interact with the target mover module, and the first processing device includes at least one of a host computer and a position measurement device; During the equipment operation phase, a measurement result of a position measurement device on an actuator of the operating equipment is received, and execution deviation information of the operating equipment is determined according to a deviation between the first actual operating position and the first expected operating position.

19. The control method according to claim 15, characterized in that: Based on the execution deviation information, before correcting the moving stroke of the target mover module, at least one of the following is further included: Storing the execution deviation information of the operating device in a random read-write storage module; Sending the execution deviation information of the operating device to a host computer, so that the host computer stores the execution deviation information of the operating device in a random read-write storage module; In response to the correction control instruction, acquiring execution deviation information of an operating device interacting with the target mover module includes at least one of the following: Acquiring execution deviation information of an operating device interacting with the target actuator module from the random read / write storage module; Execution deviation information of an operating device interacting with the target mover module is acquired from the correction control instruction.

20. The control method according to claim 14, characterized in that: The correcting the moving stroke of the target mover module based on the execution deviation information further includes at least one of the following: Acquiring control parameters of the target mover module, and correcting the interactive designated position indicated by the control parameters according to the execution deviation information; The control parameters of the target mover module are acquired and sent to a host computer, so that the host computer generates a correction control instruction including correction of the interactive designated position indicated by the control parameters according to the execution deviation information.

21. The control method according to claim 14, characterized in that: The correcting the moving stroke of the target mover module based on the execution deviation information includes at least one of the following: Based on the motion increment information of the actuator from the operating device, determine the movement increment of the target mover module that matches the motion increment information, and correct the movement increment according to the execution deviation information; wherein the motion increment information of the actuator is used to characterize the position change of the actuator in a single movement; Based on the motion increment information from the actuator, the movement increment of the target mover module that matches the motion increment information is determined and sent to the host computer, so that the host computer can generate a correction control instruction for correcting the movement increment based on the execution deviation information; wherein the motion increment information of the actuator is used to characterize the position change that occurs in a single movement of the actuator.

22. The control method according to claim 14, characterized in that: The method further comprises at least one of the following: When the operating device interacts with the target mover module, in response to a measurement control instruction, position measurement is performed on the actuator of the operating device or a measurement result of position measurement performed on the actuator of the operating device by a position measurement device is received, and execution deviation information of the operating device is updated according to a relative position deviation between the target mover module and the actuator; When the operating device interacts with the target mover module, in response to a measurement control instruction, the position of the actuator of the operating device is measured and sent to a host computer, so that the host computer can update the execution deviation information of the operating device according to the relative position deviation between the target mover module and the actuator.

23. The control method according to claim 14, characterized in that: The method further comprises at least one of the following: Obtaining the load deviation information of the target mover module, and correcting the moving stroke of the target mover module according to the load deviation information, so that when the target stator module moves to interact with the operating device, the load is in the operating target position; wherein the load deviation information is the measured position deviation degree of the load; The load deviation information of the target mover module is obtained from the correction control instruction, and the moving stroke of the target mover module is corrected according to the load deviation information, so that when the target stator module moves to interact with the operating device, the load is in the operating target position; wherein the load deviation information is the measured position deviation degree of the load.

24. The control method according to claim 14, characterized in that: After the moving stroke of the target mover module is corrected based on the execution deviation information, the method further includes any one of the following: Based on the position information of the object carried by the target mover module, judging whether the moving stroke of the target mover module is calibrated successfully; Based on the position information of the object carried by the target mover module, determine whether the moving stroke of the target mover module is calibrated successfully, and send the calibration result to the host computer; Based on the correction feedback result of the position measurement device, judging whether the moving stroke of the target mover module is successfully corrected; Based on the correction feedback result of the position measurement device, it is determined whether the moving stroke of the target mover module is corrected successfully, and the correction result is sent to the host computer.

25. A control method for a linear motor device, characterized in that: The linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry the load to move; the control method comprises: Determine a target mover module among multiple mover modules, and obtain execution deviation information of an operating device interacting with the target mover module; wherein the target mover module is a mover module determined to interact with the operating device; and the execution deviation information is a measured position deviation degree of the operating device when performing an operation; generating a correction control instruction based on the execution deviation information; The correction control instruction is sent to the linear motor device to correct the moving stroke of the target mover module, so that when the target stator module moves to interact with the operating device, the carrier is in the operating target position.

26. The control method according to claim 25, characterized in that: Before generating a correction control instruction based on the execution deviation information, the method further includes: Generate a measurement control instruction and send it to a second processing device to perform position measurement on the actuator of the operating device to determine the deviation between the actual operating position and the expected operating position when the operating device performs an operation, and obtain the execution deviation information of the operating device; wherein the execution deviation information is used to characterize the deviation between the actual operating position and the expected operating position of the operating device; the second processing device includes a linear motor device or a position measurement device.

27. The control method according to claim 26, characterized in that: Generate a measurement control instruction and send it to a second processing device to perform position measurement on the actuator of the operating device to determine the deviation between the actual operating position and the expected operating position when the operating device performs an operation, and obtain the execution deviation information of the operating device, including at least one of the following: During the equipment debugging stage, a first measurement control instruction is generated and sent to the second processing device, so that the second processing device measures the first actual operation position of the actuator when the actuator is determined to move to the first expected operation position, and determines the execution deviation information of the operating device according to the deviation between the first actual operation position and the first expected operation position; the second processing device includes a linear motor device or a position measurement device; During the equipment debugging stage, a first measurement control instruction is generated and sent to the second processing device, and the first actual operating position of the actuator measured by the second processing device when the actuator is determined to move to the first expected operating position is received, and then the execution deviation information of the operating device is determined based on the deviation between the first actual operating position and the first expected operating position; the second processing device includes a linear motor device or a position measurement device.

28. The control method according to claim 26, characterized in that: Before acquiring the execution deviation information of the operating device interacting with the target mover module, at least one of the following is also included: Storing the execution deviation information of the operating device in a non-volatile storage module; Sending the execution deviation information of the operating device to the linear motor device, so that the linear motor device stores the load deviation information in a non-volatile storage module; Acquiring execution deviation information of an operating device interacting with the target mover module includes at least one of the following: Acquiring, from the non-volatile storage module, execution deviation information of an operating device interacting with the target actuator module; Execution deviation information of an operating device interacting with the target mover module is acquired from the linear motor device.

29. The control method according to claim 26, characterized in that: Generate a measurement control instruction and send it to a second processing device to perform position measurement on the actuator of the operating device to determine the deviation between the actual operating position and the expected operating position when the operating device performs an operation, and obtain the execution deviation information of the operating device, including at least one of the following: During the equipment operation phase, the generated second measurement control instruction is sent to the second processing device, so that when the actuator is determined to move to the second expected operating position, the second processing device measures the second actual operating position of the actuator, and determines the execution deviation information of the operating device according to the deviation between the second actual operating position and the second expected operating position; wherein the second expected operating position is a position where the operating device does not interact with the target mover module; the second processing device includes a linear motor device or a position measurement device; During the equipment operation stage, the generated second measurement control instruction is sent to the second processing device, and the second actual operating position of the actuator measured by the second processing device when the actuator is determined to move to the second expected operating position is received, and then the execution deviation information of the operating device is determined based on the deviation between the second actual operating position and the second expected operating position; wherein the second expected operating position is the position where the operating device does not interact with the target mover module; the second processing device includes a linear motor device or a position measurement device.

30. The control method according to claim 26, characterized in that: Before acquiring the execution deviation information of the operating device interacting with the target mover module, at least one of the following is also included: Storing the execution deviation information of the operating device in a random read-write storage module; Sending the execution deviation information of the operating device to the linear motor device, so that the linear motor device stores the execution deviation information of the operating device in a random read-write storage module; Acquiring execution deviation information of an operating device interacting with the target mover module includes at least one of the following: Acquiring execution deviation information of an operating device interacting with the target actuator module from the random read / write storage module; Execution deviation information of an operating device interacting with the target mover module is acquired from the linear motor device.

31. The control method according to claim 25, characterized in that: The correction control instruction is sent to the linear motor device to correct the moving stroke of the target mover module, and at least one of the following is also included: Acquiring control parameters of the target mover module, and generating, according to the execution deviation information, a correction control instruction including correction of the interactive designated position indicated by the control parameters; The control parameters of the target mover module are acquired from the linear motor device, and a correction control instruction including correction of the interactive designated position indicated by the control parameters is generated according to the execution deviation information.

32. The control method according to claim 25, characterized in that: Sending the correction control instruction to the linear motor device to correct the moving stroke of the target mover module includes at least one of the following: Based on the motion increment information of the actuator from the operating device, determine the movement increment of the target mover module that matches the motion increment information, and generate a correction control instruction including correction of the movement increment according to the execution deviation information; wherein the motion increment information of the actuator is used to characterize the position change of the actuator in a single movement; Receive the movement increment of the target mover module that matches the movement increment information determined based on the movement increment information from the actuator, and generate a correction control instruction for correcting the movement increment based on the execution deviation information; wherein the movement increment information of the actuator is used to characterize the position change that occurs in a single movement of the actuator.

33. The control method according to claim 25, characterized in that: The method further comprises at least one of the following: When the operating device interacts with the target mover module, a measurement control instruction is generated to enable a second processing device to perform position measurement on an actuator of the operating device, and execution deviation information of the operating device is updated according to a relative position deviation between the target mover module and the actuator fed back by the second processing device; When the operating device interacts with the target mover module, a measurement control instruction is generated to enable a second processing device to perform position measurement on the actuator of the operating device, so that the second processing device updates the execution deviation information of the operating device according to the relative position deviation between the target mover module and the actuator.

34. The control method according to claim 25, characterized in that: The method further comprises at least one of the following: Obtaining the load deviation information of the target mover module, and generating a correction control instruction for correcting the moving stroke of the target mover module according to the load deviation information, so that when the target stator module moves to interact with the operating device, the load is in the operating target position; wherein the load deviation information is the position deviation degree of the load obtained by measurement; The load deviation information of the target mover module is obtained from the linear motor device, and a correction control instruction for correcting the moving stroke of the target mover module is generated according to the load deviation information, so that when the target stator module moves to interact with the operating device, the load is in the operating target position; wherein the load deviation information is the measured position deviation degree of the load.

35. The control method according to claim 25, characterized in that: After sending the correction control instruction to the linear motor device for correcting the moving stroke of the target mover module, the method further includes any one of the following: Based on the position information of the object carried by the target mover module, judging whether the moving stroke of the target mover module is calibrated successfully; Based on the position information of the object carried by the target mover module, determine whether the moving stroke of the target mover module is calibrated successfully, and send the calibration result to the linear motor device; Based on the correction feedback result of the position measurement device, judging whether the moving stroke of the target mover module is successfully corrected; Based on the correction feedback result of the position measurement device, it is determined whether the moving stroke of the target mover module is corrected successfully, and the correction result is sent to the linear motor device.

36. A motor control device, characterized in that: include: processor; A memory, configured to store executable instructions of the processor; The processor is configured to execute: The control method according to any one of claims 1 to 13; or The control method according to any one of claims 14 to 24; or A control method as claimed in any one of claims 25 to 35.

37. The motor control device according to claim 36, characterized in that The motor control device includes at least one of a host computer and a local control device.

38. A linear motor device, characterized in that: include: stator wire body; A plurality of mover modules movably arranged on the stator wire body, wherein the mover modules carry a load; A local control device, the local control device being configured to perform: The control method according to any one of claims 1 to 13; or A control method as claimed in any one of claims 14 to 24.

39. A production system, characterized in that: include: The motor control device as claimed in claim 36; A linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry a load and move; An operating device is used to interact with the target mover module.

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