Methods, devices, storage media and electronic devices related to linear motor equipment

Abstract

Embodiments of the present application disclose a method, device, storage medium, and electronic device related to a linear motor device. The method includes a configuration method and a control method for the linear motor device. In the configuration method of the linear motor device, rotor test information is obtained, and the rotor test information is obtained based on a test rotor. Position points are set based on the rotor test information. Thus, the position points can be flexibly set through the obtained rotor test information. And since the rotor test information is obtained based on the test rotor, the set position points can represent the positions that the rotor can reach by moving along the stator wire body. The movement stroke of the rotor can be controlled using the position points, thereby realizing the automatic control of the movement stroke of the rotor, improving the convenience and efficiency of the movement control of the rotor, ensuring the accuracy of the movement stroke of the rotor, avoiding the adverse effects caused by manually controlling the movement stroke of the rotor, and improving the conveying efficiency of the linear motor.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and particularly relates to a method, device, storage medium and electronic device related to a linear motor device. Background Art

[0002] In a linear motor device, the mover can be driven to move by using the electromagnetic principle. Based on the above characteristics, the linear motor device can be applied to a conveying scenario.

[0003] However, when the linear motor device is applied to a specific conveying scenario, a control instruction needs to be manually issued to control the mover to move to the expected position in the specified direction. However, with the development of technology, the conveying scenario has gradually become more complex. There are many adverse factors in controlling the moving stroke of the mover through manual operation, which affects the conveying efficiency of the linear motor. Therefore, how to solve the problem of low conveying efficiency of the linear motor caused by manual operation remains to be solved by those skilled in the art. Summary of the Invention

[0004] Embodiments of the present application provide a method, device, storage medium and electronic device related to a linear motor device. The technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a configuration method for a linear motor device. The linear motor device includes a control device, a stator line body and at least one mover. The control device is used to control the mover to move along the stator line body, and the control device is connected to a host computer. The method is applied to the host computer and includes:

[0006] Sending a position test instruction to the control device;

[0007] Receiving mover test information sent by the control device based on the position test instruction. The mover test information is obtained based on a test mover;

[0008] Setting a position point based on the mover test information, where the position point corresponds to the stator line body and is used to control the moving stroke of the mover.

[0009] In a second aspect, an embodiment of the present application provides a configuration method for a linear motor device. The linear motor device includes a control device, a stator line body and at least one mover. The control device is used to control the mover to move along the stator line body, and the control device is connected to a host computer. The method is applied to the control device and includes:

[0010] Receiving the position test instruction sent by the host computer;

[0011] Obtain mover test information corresponding to the test mover based on the position test instruction;

[0012] Send the mover test information to the host computer so that the host computer sets a position point based on the mover test information, where the position point corresponds to the stator line body, and the position point is used to control the moving stroke of the mover.

[0013] In a third aspect, an embodiment of the present application provides a control method for a linear motor device. The linear motor device includes a control device, a stator line body, and at least one mover. The control device is used to control the mover to move along the stator line body, and the control device is connected to a host computer; the method is applied to the host computer, and the method includes:

[0014] Generate a position guiding instruction based on a target position point, where the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover, and the mover test information is obtained by the control device based on the position test instruction sent by the host computer and sent to the host computer;

[0015] Send the position guiding instruction to the control device, and the position guiding instruction is used to instruct the control device to control the moving stroke of the mover based on the target position point.

[0016] In a fourth aspect, an embodiment of the present application provides a control method for a linear motor device. The linear motor device includes a control device, a stator line body, and at least one mover. The control device is used to control the mover to move along the stator line body, and the control device is connected to a host computer; the method is applied to the control device, and the method includes:

[0017] Receive the position guiding instruction sent by the host computer, where the position guiding instruction is generated by the host computer based on a target position point, and the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover, and the mover test information is obtained by the control device based on the position test instruction sent by the host computer and sent to the host computer;

[0018] Control the moving stroke of the mover to correspond to the target position point based on the position guiding instruction.

[0019] In a fifth aspect, an embodiment of the present application provides a configuration method for a linear motor device. The linear motor device includes a stator line body and at least one mover. The method includes:

[0020] Obtain mover test information, where the mover test information is obtained based on a test mover;

[0021] Set a position point based on the mover test information, where the position point corresponds to the stator wire body and is used to control the moving stroke of the mover.

[0022] In a sixth aspect, an embodiment of the present application provides a control method for a linear motor device, where the linear motor device includes a stator wire body and at least one mover, and the method includes:

[0023] Select a target position point from multiple position points, where the position points are set based on the mover test information corresponding to the test mover;

[0024] Control the moving stroke of the mover based on the target position point.

[0025] In a seventh aspect, an embodiment of the present application provides a configuration device for a linear motor device, where the linear motor device includes a control device, a stator wire body, and at least one mover, the control device is used to control the mover to move along the stator wire body, and the control device is connected to a host computer; the configuration device of the linear motor device is applied to the host computer, and the configuration device includes:

[0026] An instruction sending module, configured to send a position test instruction to the control device;

[0027] An information receiving module, configured to receive the mover test information sent by the control device based on the position test instruction, where the mover test information is obtained based on the test mover;

[0028] A position setting module, configured to set a position point based on the mover test information, where the position point corresponds to the stator wire body and is used to control the moving stroke of the mover.

[0029] In an eighth aspect, an embodiment of the present application provides a configuration device for a linear motor device, where the linear motor device includes a control device, a stator wire body, and at least one mover, the control device is used to control the mover to move along the stator wire body, and the control device is connected to a host computer; the configuration device of the linear motor device is applied to the control device, and the configuration device includes:

[0030] An instruction receiving module, configured to receive the position test instruction sent by the host computer;

[0031] An information obtaining module, configured to obtain the mover test information corresponding to the test mover based on the position test instruction;

[0032] An information sending module, configured to send the mover test information to the host computer so that the host computer sets a position point based on the mover test information, where the position point corresponds to the stator wire body and is used to control the moving stroke of the mover.

[0033] In a ninth aspect, an embodiment of the present application provides a control device for a linear motor device. The linear motor device includes a control device, a stator wire body, and at least one mover. The control device is used to control the mover to move along the stator wire body, and the control device is connected to a host computer; the control device of the linear motor device is applied to the host computer, and the control device of the linear motor device includes:

[0034] An instruction generation module, configured to generate a position guiding instruction based on a target position point. The target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover. The mover test information is obtained by the control device based on the position test instruction sent by the host computer and then sent to the host computer;

[0035] An instruction sending module, configured to send the position guiding instruction to the control device. The position guiding instruction is used to instruct the control device to control the moving stroke of the mover based on the target position point.

[0036] In a tenth aspect, an embodiment of the present application provides a control device for a linear motor device. The linear motor device includes a control device, a stator wire body, and at least one mover. The control device is used to control the mover to move along the stator wire body, and the control device is connected to a host computer; the control device of the linear motor device is applied to the control device, and the control device of the linear motor device includes:

[0037] An instruction receiving module, configured to receive a position guiding instruction sent by the host computer. Among them, the position guiding instruction is generated by the host computer based on a target position point. The target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover. The mover test information is obtained by the control device based on the position test instruction sent by the host computer and then sent to the host computer;

[0038] A mover control module, configured to control the moving stroke of the mover to correspond to the target position point based on the position guiding instruction.

[0039] In an eleventh aspect, an embodiment of the present application provides a configuration device for a linear motor device. The linear motor device includes a stator wire body and at least one mover. The device includes:

[0040] An information acquisition module, configured to acquire mover test information, and the mover test information is obtained based on a test mover;

[0041] A position setting module, configured to set position points based on the mover test information, where the position points correspond to the stator wire body, and the position points are used to control the moving stroke of the mover.

[0042] In a twelfth aspect, an embodiment of the present application provides a control device for a linear motor device, where the linear motor device includes a stator wire body and at least one mover, and the device includes:

[0043] A position selection module, configured to select a target position point from a plurality of position points, where the position points are set based on the mover test information corresponding to the test mover;

[0044] A mover control module, configured to control the moving stroke of the mover based on the position points.

[0045] In a thirteenth aspect, an embodiment of the present application provides a computer storage medium, where the computer storage medium has a plurality of instructions, and the instructions are adapted to be loaded and executed by a processor to perform the above method.

[0046] In a fourteenth aspect, an embodiment of the present application provides an electronic device, where the electronic device includes: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the above method.

[0047] The beneficial effects brought by the technical solution provided by the embodiment of the present application at least include:

[0048] In the configuration scenario of the linear motor device provided by the embodiment of the present application, mover test information is obtained, the mover test information is obtained based on a test mover, position points are set based on the mover test information, where the position points correspond to the stator wire body, and the position points are used to control the moving stroke of the mover. Thus, the position points can be flexibly set through the obtained mover test information, and since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach along the stator wire body, and the moving stroke of the mover can be controlled using the position points, thereby realizing the automatic control of the moving stroke of the mover, improving the convenience and efficiency of the mover movement control, and being able to ensure the accuracy of the moving stroke of the mover, avoiding the adverse effects caused by manual control of the moving stroke of the mover, and improving the conveying efficiency of the linear motor.

[0049] In the control scenario of the linear motor device provided in the embodiments of the present application, a target position point is selected from the position points set according to the mover test information, and the moving stroke of the mover is controlled based on the target position point. Since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information. And since the mover test information is obtained based on the tested mover, the set position points can represent the positions that the mover can reach by moving along the stator line body. The target position point selected from the position points can guide the mover to move along the stator line body to a target position that meets the stroke requirement, thereby realizing the automatic control of the mover's moving stroke, improving the convenience and efficiency of the mover's movement control, and ensuring the accuracy of the mover's moving stroke, avoiding the adverse effects caused by manually controlling the mover's moving stroke, and improving the conveying efficiency of the linear motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0051] Figure 1 is a schematic flowchart of a configuration method for a linear motor device provided in an embodiment of the present application;

[0052] Figure 2 is a schematic structural diagram of a linear motor device provided in an embodiment of the present application;

[0053] Figure 3 is a schematic diagram of a position point setting provided in an embodiment of the present application;

[0054] Figure 4 is another schematic diagram of a position point setting provided in an embodiment of the present application;

[0055] Figure 5 is another schematic diagram of a position point setting provided in an embodiment of the present application;

[0056] Figure 6 is a schematic diagram of signaling interaction between a host computer and a control device provided in an embodiment of the present application;

[0057] Figure 7 is a schematic flowchart of another configuration method for a linear motor device provided in an embodiment of the present application;

[0058] Figure 8 is another schematic diagram of a position point setting provided in an embodiment of the present application;

[0059] Figure 9It is a schematic diagram of the establishment of a coordinate system provided by an embodiment of the present application;

[0060] Figure 10 It is another schematic diagram of the establishment of a coordinate system provided by an embodiment of the present application;

[0061] Figure 11 It is a schematic flow chart of another configuration method of a linear motor device provided by an embodiment of the present application;

[0062] Figure 12 It is a schematic flow chart of another configuration method of a linear motor device provided by an embodiment of the present application;

[0063] Figure 13 It is a schematic flow chart of a control method of a linear motor device provided by an embodiment of the present application;

[0064] Figure 14 It is a schematic flow chart of another control method of a linear motor device provided by an embodiment of the present application;

[0065] Figure 15 It is a schematic diagram of a mover movement path provided by an embodiment of the present application;

[0066] Figure 16 It is another schematic diagram of a mover movement path provided by an embodiment of the present application;

[0067] Figure 17 It is a schematic flow chart of another control method of a linear motor device provided by an embodiment of the present application;

[0068] Figure 18 It is another schematic diagram of a mover movement path provided by an embodiment of the present application;

[0069] Figure 19 It is a schematic flow chart of another control method of a linear motor device provided by an embodiment of the present application;

[0070] Figure 20 It is another schematic diagram of signaling interaction between a host computer and a control device provided by an embodiment of the present application;

[0071] Figure 21 It is a schematic flow chart of another control method of a linear motor device provided by an embodiment of the present application;

[0072] Figure 22 It is a schematic flow chart of another configuration method of a linear motor device provided by an embodiment of the present application;

[0073] Figure 23 It is a schematic flow chart of another configuration method of a linear motor device provided by an embodiment of the present application;

[0074] Figure 24 It is a schematic flowchart of another control method for a linear motor device provided by an embodiment of the present application;

[0075] Figure 25 It is a schematic flowchart of another control method for a linear motor device provided by an embodiment of the present application;

[0076] Figure 26 It is a schematic flowchart of another control method for a linear motor device provided by an embodiment of the present application;

[0077] Figure 27 It is a schematic structural diagram of a configuration device for a linear motor device provided by an embodiment of the present application;

[0078] Figure 28 It is a schematic structural diagram of a configuration device for a linear motor device provided by an embodiment of the present application;

[0079] Figure 29 It is a schematic structural diagram of a control device for a linear motor device provided by an embodiment of the present application;

[0080] Figure 30 It is a schematic structural diagram of a control device for a linear motor device provided by an embodiment of the present application;

[0081] Figure 31 It is a schematic structural diagram of a configuration device for a linear motor device provided by an embodiment of the present application;

[0082] Figure 32 It is a schematic structural diagram of a control device for a linear motor device provided by an embodiment of the present application;

[0083] Figure 33 It is a schematic block diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0084] To make the objectives, features, and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0085] In the description of this application, it should be understood that terms such as "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In the description of this application, it should be noted that unless otherwise clearly specified and defined, "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations. In addition, in the description of this application, unless otherwise stated, "a plurality of" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0086] As mentioned above, in the face of the gradually complex conveying scenario, there are many adverse factors in controlling the moving stroke of the mover by manual operation. For example, the operation error rate increases significantly, and the operation time is relatively long, etc. As a result, the conveying efficiency of the linear motor is relatively low.

[0087] To solve the above problems, on the one hand, this application provides a linear motor configuration scheme. By obtaining the mover test information, position points for controlling the moving stroke of the mover are set. With the above configuration scheme, the moving stroke of the mover is controlled by using the position points, thereby realizing the automatic control of the moving stroke of the mover, improving the convenience and efficiency of the mover movement control, and being able to ensure the accuracy of the mover moving stroke, avoiding the adverse effects caused by manually controlling the mover moving stroke, and improving the conveying efficiency of the linear motor.

[0088] On the other hand, this application provides a linear motor control scheme. A target position point is selected from the position points set according to the mover test information, and the moving stroke of the mover is controlled based on the target position point. With the above control scheme, the target position point selected from the position points can guide the mover to move along the stator line body to the target position that meets the stroke requirements, thereby realizing the automatic control of the moving stroke of the mover, improving the convenience and efficiency of the mover movement control, and being able to ensure the accuracy of the mover moving stroke, avoiding the adverse effects caused by manually controlling the mover moving stroke, and improving the conveying efficiency of the linear motor.

[0089] To enable those skilled in the art to more clearly understand and implement the solution provided by this application, the solution of this application will be described in detail below in combination with specific embodiments and drawings.

[0090] Please refer toFigure 1 , which is a schematic flow chart of a configuration method for a linear motor device provided by an embodiment of the present application. The execution subject of this method is a host computer, which is connected to a control device in the linear motor device. The linear motor device further includes a stator line body and at least one mover. The control device is used to control the mover to move along the stator line body. Specifically, this method may include the following steps:

[0091] S101, send a position test instruction to the control device.

[0092] Exemplarily, the application scenario of the embodiment of the present application is a configuration scenario of a linear motor device. In this configuration scenario, one or more movers selected from the movers installed on the stator line body are used for testing, that is, test movers. Then, the host computer sends a position test instruction to the control device to instruct the control device to obtain the mover test information of the test movers.

[0093] For example, please refer to Figure 2 , which is a schematic structural diagram of a linear motor device provided by an embodiment of the present application. As Figure 2 shown, the linear motor device may include but is not limited to at least one mover ( Figure 2 4 movers are shown in, mover one 202-1, mover two 202-2, mover three 202-3, mover four 202-4), a stator line body 204 and a control device 206. The host computer 212 is connected to the control device 206, and the control device 206 is connected to the stator line body 204. Among them, the mover may include a permanent magnet, and each stator in the stator line body 204 may include a coil. After the coil is energized, a changing magnetic field can be generated. By the interaction between the changing magnetic field and the permanent magnet, a thrust can be generated on the mover, so that the mover can move along the stator line body 204.

[0094] Specifically, with reference to Figure 2 , the host computer 212 may send a position test instruction to the control device 206 to instruct the control device 206 to obtain the mover test information of the test movers, where one or more movers may be selected from mover one 202-1, mover two 202-2, mover three 202-3, and mover four 202-4 as the test movers.

[0095] S102, receive the mover test information sent by the control device based on the position test instruction.

[0096] Among them, the mover test information is obtained based on the test mover. The mover test information may include at least one of the position information of the test mover, the mover identification information of the test mover, and the assigned order information. Among them, the position information of the test mover is obtained by detecting the position where the test mover is located. For example, the position information of the test mover can be measured by a position measuring device provided in at least one of the mover and the stator line body, or can be measured by a position measuring device independently provided from the mover and the stator line body. The position measuring device can be contact type or non-contact type. Specifically, the position measuring device may include one or more of an image sensor, an infrared sensor, a magnetic sensor, and a laser sensor; the mover identification information of the test mover is used to characterize the source subject of the mover test information, and the order information is used to indicate the acquisition order of the mover test information, that is, the order in which the currently acquired mover test information is located among the acquired mover test information.

[0097] For example, the mover test information may include the position information of the test mover, the mover test information may include the position information and the mover identification information of the test mover, the mover test information may include the position information and the assigned order information of the test mover, and the mover test information may include the position information of the test mover, the mover identification information of the test mover, and the assigned order information.

[0098] In some embodiments, after the host computer sends a position test instruction to the control device, the control device can obtain the mover test information corresponding to the test mover according to the position test instruction, and the control device can send the mover test information to the host computer. Among them, the position test instruction can indicate the test mover or can indicate the control device to determine the test mover. For example, in response to the position test instruction, the control device can obtain the mover test information corresponding to the test mover indicated by the position test instruction. For another example, in response to the position test instruction, the control device determines the test mover from the movers assembled on the stator line body and obtains the mover test information corresponding to the test mover.

[0099] S103, set a position point based on the mover test information.

[0100] It can be understood that the position point described in the embodiments of the present application is not an entity position point, but a virtual position point set based on the application program and used to indicate and describe the positions that the mover can reach along the stator line body.

[0101] The position of the test mover is related to the test reference object. Among them, the test reference object can be an object related to the movement of the mover in the conveying scenario. For example, the test reference object can be an operating device, a stator line body, etc., and the number of test reference objects can be one or more. Correspondingly, the position point can be used to represent the position where the mover interacts with the operating device, the position where the mover starts, the position where the mover stops, and / or the position of the non-continuous end of the stator line body. Among them, according to the actual situation, the position where the mover starts can be understood as the starting position where the mover begins to move or the position where the mover starts again after stopping, and the position where the mover stops can be understood as the end position where the mover completes the movement or the position where the mover pauses. In other words, setting the position point according to the mover test information of the test mover can be used as one or a combination of an operating point, a starting point, a stopping point, and a limit point.

[0102] When there are multiple position points used as operating points, the combined use of these position points can control or adjust the moving stroke of the mover, so that the operating device can interact with the mover that reaches the position point used as the operating point.

[0103] Among them, the operating device can be understood as a device that interacts with the mover, and the interaction operation can include processing operations and / or material transfer operations, etc. Among them, the material transfer operation can further include loading operations and / or unloading operations. Correspondingly, the position point used as the operating point can specifically be a processing operation point and / or a material transfer operation point.

[0104] It can be understood that the position point can be set along the stator line body. Exemplarily, refer to Figure 3 a schematic diagram of a position point setting shown. In Figure 3 , the mover 302-1 can move along the stator line body 304. When the mover 302-1 is used as a test mover and corresponds to the operating device 312, the mover test information of the test mover 302-1 is obtained, and the position point a used as the operating point is set based on the mover test information of the mover 302-1. It can be understood that in the actual setting process of the position point, one or more position points used as the operating point can be set according to the specific operation steps of an operating device. In other words, an operating device can correspond to one or more position points used as the operating point. For example, as Figure 4 shown in another schematic diagram of a position point setting, the mover 402-1 can move along the stator line body 404, and the operating device 412 can correspondingly be set with one position point used as the operating point. Another example, as Figure 5 shown in another schematic diagram of a position point setting, the mover 502-1 can move along the stator line body 504, and the operating device 512 is correspondingly set with multiple position points used as the operating point, including operating point 1, operating point 2, operating point 3, operating point 4, and operating point 5.

[0105] In some embodiments, position points can be set according to mover test information, and position point configuration parameters can be obtained.

[0106] Optionally, after obtaining the position point configuration parameters, the host computer can send at least part of the information in the position point configuration parameters to the control device, so that in the control scenario of the linear motor device (such as in the operation scenario of the linear motor device), when the host computer controls the moving stroke of the mover according to the position point, the host computer does not need to send at least part of the information of the position point already stored in the control device to the control device again as part of the position guiding instruction, thereby reducing the amount of information to be transmitted between the host computer and the control device and improving the communication efficiency.

[0107] Exemplarily, refer to Figure 6 a schematic diagram of signaling interaction between a host computer and a control device as shown.

[0108] As Figure 6 shown, the host computer first sends a position test instruction to the control device, then the host computer receives the mover test information sent by the control device, and then the host computer sets position points according to the mover test information and obtains position point configuration parameters. After the host computer obtains the position point configuration parameters, the host computer can also send part or all of the information in the position point configuration parameters to the control device, so that part or all of the information in the position point configuration parameters can be stored in the control device, thereby reducing the amount of information to be transmitted between the host computer and the control device. Among them, the information sent by the host computer to the control device at least includes position point identification information and position point location information, which is convenient for the control device to accurately determine the position point according to the position point identification information and the position point location information.

[0109] For the configuration method of the linear motor device provided by the embodiments of the present application, the host computer sends a position test instruction to the control device to receive the mover test information of the test mover sent by the control device based on the position test instruction, and then sets position points corresponding to the stator line based on the mover test information, so that the position points are used to control the moving stroke of the mover. Thus, the position points can be flexibly set through the obtained mover test information, and since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach along the stator line, and the moving stroke of the mover can be controlled by using the position points, thereby realizing the automatic control of the moving stroke of the mover, improving the convenience and efficiency of the moving control of the mover, ensuring the accuracy of the moving stroke of the mover, avoiding the adverse effects caused by manually controlling the moving stroke of the mover, and improving the conveying efficiency of the linear motor.

[0110] It can be understood that the host computer described in the embodiments of the present application can be implemented by an electronic device capable of generating and sending commands, such as a personal computer (PC for short), a programmable logic controller (PLC for short), etc. The embodiments of the present application do not make specific limitations in this regard. The linear motor device described in the embodiments of the present application can be any one of a linear motor, a magnetic drive motor, a magnetic levitation motor, and a magnetic drive conveying device. The embodiments of the present application do not make specific limitations in this regard.

[0111] Combined with the above description, it can be seen that in specific implementation, the position test instruction can indicate the test mover, or can also indicate the control device to determine the test mover. For the convenience of those skilled in the art to understand and implement, the embodiments in which the position test instruction sent by the host computer indicates the test mover will be described first below (specifically, refer to the description of the following Figure 7 shown embodiments), and the embodiments in which the position test instruction indicates that the control device determines the test mover will be described in the embodiments related to the control device (specifically, refer to the description of the following Figure 12 shown embodiments).

[0112] Please refer to Figure 7 , which is a schematic flowchart of another configuration method of the linear motor device provided by the embodiments of the present application. The execution subject of this method is the host computer, and the host computer is connected to the control device in the linear motor device. The linear motor device further includes a stator line body and at least one mover. The control device is used to control the mover to move along the stator line body. Specifically, this method may include the following steps:

[0113] S701, generate a position test instruction based on the test identification information.

[0114] The test identification information can be understood as the mover identification information used to identify the test mover. The position test instruction can be used to indicate the test mover, so that the control device can obtain the mover test information of the test mover.

[0115] In some embodiments, the test identification information can be determined according to the movers within the preset distance range of the test reference object, and / or the test identification information can be specified from the mover identification information of the movers; further, the host computer can generate a position test instruction capable of indicating the test identification information according to the determined test identification information. According to the indication of the position test instruction, the control device determines the movers within the preset distance range of the test reference object as the test movers, and / or determines the movers corresponding to the specified test identification information as the test movers.

[0116] It can be understood that the manner of specifying the test identification information can be random or carried out according to a preset specification manner. For example, the test identification information can be randomly specified from the mover identification information of the mover. Another example is that, based on the obtained mover position information of the mover, the mover identification information of one or more movers closest to the operating device can be specified as the test identification information.

[0117] It can also be understood that the preset distance range of the test reference object can be related to the type of the test reference object. For example, when the test reference object is the discontinuous end of the stator line, the preset distance range can be set according to the risk of the mover falling from the discontinuous end of the stator line; another example is that when the test reference object is the operating device, the preset distance range set for the operating device can be set according to the operating range of the operating device, where the preset distance range set for the operating device can include the operating range of the operating device, the operating range of the device to be operated is included, or intersects with the operating range of the operating device.

[0118] The following will detail how the host computer determines the test identification information based on the mover within the preset distance range of the test reference object with specific examples.

[0119] For example, please refer to Figure 8 the schematic diagram of another setting position point shown in Figure 8 It can be seen that there are a processing device 812 and a material transfer device 814 arranged around the stator line 804, and the operating ranges of the processing device 812 and the material transfer device 814 are as Figure 8 shown. For example, the operating range of the processing device 812 can be used as the preset distance range set for the processing device 812. When the host computer takes the processing device 812 as the test reference object and detects whether there is a mover within the preset distance range of the processing device 812, and determines that the mover 802-1 is within the preset distance range of the processing device 812, the host computer will use the mover identification information of the mover 802-1 as the test identification information to generate a position test instruction, and send the position test instruction to the control device to obtain the mover test information of the mover 802-1 at this moment through the control device, so as to facilitate the host computer to set the position point according to the mover test information of the mover 802-1, that is, the host computer sets the position point corresponding to the processing device 812 according to the mover test information of the mover 802-1.

[0120] For another example, the operating range of the material transfer device 814 can be used as a preset distance range set for the material transfer device 814. When the host computer takes the material transfer device 814 as a test reference object and detects whether there is a mover within the preset distance range of the material transfer device 814, if it is determined that the mover 802-1 is within the preset distance range of the material transfer device 814, the host computer takes the mover identification information of the mover 802-1 as the test identification information to generate a position test instruction, and sends the position test instruction to the control device to obtain the mover test information of the mover 802-1 at this moment through the control device, so as to facilitate the host computer to set a position point according to the mover test information of the mover 802-1, that is, the host computer sets a position point corresponding to the material transfer device 814 according to the mover test information of the mover 802-1.

[0121] It should be noted that when the host computer detects that there are multiple movers within the preset distance range of the test reference object, the host computer can designate one or more mover identification information as test identification information according to the identification selection rule. For example, the mover identification information of one or more movers closest to the operating device is selected and designated as the test identification information.

[0122] In this way, the host computer can specify the test mover, and then generate a position test instruction including the mover identification information indicating the test mover, without the control device determining the test mover by itself. After the control device determines the test mover according to the position test instruction, it obtains the mover test information corresponding to the test mover, simplifies the program code built in the control device, and thus reduces the computing power requirement of the control device.

[0123] S702, send a position test instruction to the control device.

[0124] In some embodiments, after the host computer determines that the test mover has moved to the position corresponding to the test reference object, it sends a position test instruction to the control device. Or, after the host computer determines that the stationary duration of the test mover reaches a preset duration threshold, it sends a position test instruction to the control device. Or, after the host computer determines that the test mover has moved to the position corresponding to the test reference and determines that the stationary duration of the test mover reaches a preset duration threshold, it sends a position test instruction to the control device.

[0125] Among them, the test mover moving to the position corresponding to the test reference object may include, but is not limited to, the test mover moving to a position where it is convenient for the test mover to interact with the operating device, the test mover moving to the position of the non-continuous end of the stator line, the test mover moving to the starting position, the test mover moving to the stopping position, and so on.

[0126] Therefore, it is possible to ensure that there is a test mover when sending a position test instruction to the control device, thereby improving the acquisition efficiency of mover test information. And by sending a position test instruction to the control device after determining that the test mover has moved to the position corresponding to the test reference object, it can be ensured that the control device can obtain accurate mover test information. By determining that the stationary duration of the mover reaches the preset duration threshold and then sending a position test instruction to the control device, it can be ensured that the control device obtains accurate mover test information when the mover is in a stable state.

[0127] S703. Receive the mover test information sent by the control device based on the position test instruction.

[0128] Among them, the process by which the control device obtains the mover test information based on the position test instruction can refer to the description in the relevant part and will not be elaborated here.

[0129] S704. Set a position point based on the mover test information.

[0130] Among them, according to the actual situation, one or more types of information can be set for the position point.

[0131] In some embodiments, in the process of setting a position point based on the mover test information, at least one of the following types of information can be set for the position point:

[0132] Set the position information of the position point based on the mover test information;

[0133] Set the identification information of the position point based on the mover test information;

[0134] Set the arrangement order information of the position point based on the mover test information;

[0135] Set the function information of the position point based on the mover test information, and the function information of the position point is determined according to the type of the test reference object corresponding to the test mover;

[0136] Set the motion reference information of the position point based on the mover test information, and the motion reference information of the position point is used to control the motion state of the mover.

[0137] Therefore, not only can the position information and identification information of the set position point be used to control the moving stroke of the mover, but also the moving path of the mover can be recorded by setting the arrangement order information of the position point, and the function implemented by the position point can be indicated by setting the function information of the position point. For example, the function information of the position point can be used to indicate one or more functions among the operation interaction function, start function, stop function, and limit function. Moreover, the motion state of the mover at the position point can be controlled by setting the motion reference information of the position point.

[0138] Exemplarily, executing S704 may include: setting the position information of the position point based on the mover test information. Specifically, the position information can be represented by a coordinate system. When the coordinate system of the mover is the same as that of the position point, the position information of the test mover can be set as the position information of the position point; or when the coordinate system of the mover is different from that of the position point, after performing coordinate transformation processing on the position information of the test mover, the coordinate transformation result can be set as the position information of the position point.

[0139] For example, the coordinate system OX can be used to represent the position information of the test mover and the position information of the position point. When the position information of the test mover is a, a can be set as the position information of the position point. In this way, using a unified coordinate system to represent the position information of the test mover and the position information of the position point makes the execution efficiency of the host computer relatively high. Among them, the coordinate system can be established based on the stator line. Exemplarily, reference can be made to Figure 9 the schematic diagram of establishing a coordinate system shown. A one-dimensional coordinate system OX is established with the stator line 904, and the position information of the test mover 902-1 and the position information of the position point can be represented using the one-dimensional value y. Thus, by using a unified coordinate system to represent the position information of the test mover and the position information of the position point, the execution efficiency of the host computer can be improved.

[0140] For another example, the coordinate system X’O’Y’ is used to represent the position information of the test mover, and the coordinate system OX is used to represent the position information of the position point. The origins (O and O’) of the two coordinate systems are different. When the position information of the test mover is (b, c), according to the coordinate transformation relationship between the coordinate system X’O’Y and the coordinate system OX, the position information (b, c) in the coordinate system X’O’Y can be transformed to obtain the position information b’ in the coordinate system OX, and then b’ can be set as the position information of the position point. Thus, according to actual requirements, different coordinate systems can be established for the test mover and the position point to represent their position information, which can improve the flexibility of setting the position information of the position point.

[0141] Optionally, in addition to selecting the one-dimensional coordinate system and two-dimensional coordinate system listed above, a three-dimensional coordinate system can also be selected to represent the position information of the test mover and the position point. The position information can be represented using distance information, or it can be represented jointly using distance information and angle information. The angle information can be represented using polar coordinates, and the angle information can also be represented using the three rotation angles of yaw angle, roll angle, and pitch angle. Exemplarily, reference can be made to Figure 10 the schematic diagram of establishing another coordinate system shown. A three-dimensional coordinate system OXYZ is established with the position measuring device 1012 located outside the stator line 1004, and the position information of the test mover 1002-1 and the position information of the position point can be represented using three-dimensional coordinates.

[0142] Exemplarily, executing S704 may include: setting the position information of the position point based on the mover test information; and setting the identification information of the position point based on the mover test information. The position point identification information can be used to identify the position point. Specifically, the position information of the test mover can be determined according to the mover test information, and the position point identification information can be set according to the position information of the test mover. For example, the position point identification information including the mover position value can be generated, and the mover position value refers to the value included in the position information of the test mover.

[0143] Exemplarily, executing S704 may include: setting the position information of the position point based on the mover test information; and setting the arrangement order information of the position points. The position point arrangement order information can refer to the information used to represent the arrangement order of a certain position point among multiple position points. Specifically, the position point arrangement order information is set based on the acquisition order of the mover test information to record the movement path of the test mover through the position point arrangement order information. The acquisition order of the mover test information can be used to identify the acquisition order of multiple mover test information. Thus, the movement path of the test mover can be recorded through the position point arrangement order information, which is convenient for reproducing the movement path of the test mover in the configuration scenario according to the set point arrangement order information in the operation scenario of the linear motor device.

[0144] Exemplarily, executing S704 may include: setting the position information of the position point based on the mover test information; and setting the movement reference information of the position point, where the position point movement reference information is used to control the movement state of the mover. The position point movement reference information may include movement parameters for controlling the movement state of the mover at the position point, and the position point movement reference information may include but is not limited to acceleration parameters, speed parameters, and expected direction parameters. The acceleration parameters may include but are not limited to maximum acceleration, minimum acceleration, and expected acceleration, the speed parameters may include but are not limited to maximum speed, minimum speed, and expected speed, and the expected direction parameter is used to indicate that the mover reaches the position point from the expected direction. Specifically, the position information of the test mover can be determined according to the mover test information, and the position point movement reference information can be set according to the position information of the test mover.

[0145] Thus, by setting the position point movement reference information, the movement state of the mover when reaching certain position points is recorded, which is convenient for accurately controlling the movement state of the mover at certain position points in the operation scenario of the linear motor device. For example, in the conveying scenario, the movement state of each mover at the position point can be accurately controlled according to the conveying requirements to improve the conveying efficiency.

[0146] Exemplarily, performing S704 may include: setting position point location information based on mover test information; and setting position point function information based on mover test information. The position point function information is determined according to the type of test reference object corresponding to the test mover, and the position point function information is used to indicate the functions that the position point can achieve. For example, it is used to indicate at least one of the functions of operation interaction function, start function, stop function, and limit function, and each function is related to the type of test reference object corresponding to the test mover. For example, when the test reference object is an operating device, the position point function information can be used to indicate at least one of the functions of operation interaction function, start function, and stop function; when the test reference object is a stator line, the position point function information can be used to indicate at least one of the functions of start function, stop function, and limit function. Specifically, the host computer can first determine the type of test reference object corresponding to the test mover according to the mover test information, and then set the position point function information according to the type of test reference object.

[0147] Thus, by setting the position point function information, the functions that certain position points can achieve are recorded, which is convenient for controlling or adjusting the moving stroke of the mover according to the functions achieved by the position points when controlling the mover to reach these position points, so as to improve the convenience and efficiency of mover movement control.

[0148] Exemplarily, performing S704 may include: setting position point location information based on mover test information; setting position point identification information based on mover test information; and setting position point arrangement order information based on mover test information.

[0149] Exemplarily, performing S704 may include: setting position point location information based on mover test information; setting position point identification information based on mover test information; and setting position point motion reference information based on mover test information, where the position point motion reference information is used to control the motion state of the mover.

[0150] Exemplarily, performing S704 may include: setting position point location information based on mover test information; setting position point identification information based on mover test information; and setting position point function information based on mover test information.

[0151] Exemplarily, performing S704 may include: setting position point location information based on mover test information; setting position point arrangement order information based on mover test information; setting position point motion reference information based on mover test information, where the position point motion reference information is used to control the motion state of the mover.

[0152] Exemplarily, performing S704 may include: setting position point location information based on mover test information; setting position point arrangement order information based on mover test information; and setting position point function information based on mover test information.

[0153] Exemplarily, performing S704 may include: setting position point location information based on mover test information; setting position point identification information based on mover test information; setting position point arrangement order information based on mover test information; setting position point function information based on mover test information; and setting position point motion reference information based on mover test information, where the position point motion reference information is used to control the motion state of the mover.

[0154] According to the description in the relevant part (such as Figure 1 the relevant text description in the illustrated embodiment and Figure 6 the signaling interaction schematic diagram shown), after obtaining the position point configuration parameters, the host computer may send at least some of the information in the position point configuration parameters to the control device. Specifically, in the embodiments of the present application, it may be determined whether to send to the control device according to the specific type of the information in the position point configuration parameters.

[0155] For example, after obtaining the position point location information and the position point identification information, the host computer may send the position point location information in the position point configuration parameters to the control device. When the linear motor device is running, the host computer sends the position point identification information of the target position point as part of the position guidance instruction to the control device, and the control device determines the target position point location information from the multiple position point location information stored in itself according to the target position point identification information indicated by the received instruction, so as to control the mover to be at the position corresponding to the target position point.

[0156] For another example, after obtaining the position point location information, the position point identification information, and the position point arrangement order information, the host computer may send the position point location information and the position point arrangement order information to the control device. When the linear motor device is running, the host computer sends the target position point identification information of the target position point as part of the position guidance instruction to the control device, and the control device determines the target position point location information of the target position point from the multiple position point location information stored in itself according to the target position point identification information indicated by the received instruction, and determines the target position point arrangement order information of the target position point from the multiple position point arrangement order information stored in itself, so as to control the mover to reach the position corresponding to the target position point (the position indicated by the target position point location information) according to the target position point arrangement order information.

[0157] Optionally, in addition to the position point configuration parameters set above, the attached point information associated with the position point can also be set. Specifically, the method for setting the attached point information is as follows: Based on the position point, combined with the preset position offset information, the attached point information associated with the position point is set. Among them, the attached point information may include, but is not limited to, the position information of the attached point associated with the position point, the attached point identification information of the attached point associated with the position point, the attached point arrangement order information of the attached point associated with the position point, and the attached point function information of the attached point associated with the position point. Among them, the attached point associated with the position point can be understood as an attached point that depends on the position point. The attached point function information can be the same as the position point function information of the position point associated with the attached point. When the position point no longer exists, the attached point associated with the position point also no longer exists. For example, when a certain position point is deleted, the attached points that depend on that position point are also deleted together. For a certain position point, there may be one or more attached points that depend on that position point. Regarding the understanding of the attached point, if a certain position point is a position point used as a stop point, that is, this position point is used to implement the stop function, then the attached points associated with this position point are also all used to implement the stop function. When multiple movers need to dock at this position point during the same time period, these movers can dock at the multiple attached points associated with this position point one by one.

[0158] Thus, by setting the attached point information associated with the position point to record the attached points with the same implementation function as the position point, it is convenient that in a specific operation scenario, when the position points of a certain function are not enough, there are also one or more attached points with the same function available, improving the convenience of controlling the moving stroke of the mover.

[0159] Optionally, after setting the position point configuration parameters (including position point position information, position point identification information, position point function information, position point arrangement order information, position point movement reference information) and the attached point information, a position point configuration table can also be generated based on the position point position information, position point identification information, position point function information, position point arrangement order information, position point movement reference information, and attached point information. The position point configuration table stores the mapping relationship between the position point identification information of each position point and the position point position information, position point function information, position point arrangement order information, position point movement reference information, and attached point information corresponding to each position point. Thus, by generating the position point configuration table, the position point configuration parameters of each position point can be quickly queried.

[0160] Optionally, after generating the position point configuration table, the host computer can also send the position point configuration table to the control device, so that the control device also stores the position point configuration table. Then, when the linear motor device is running, the host computer sends the position point identification information of the target position point to the control device as part of the position guidance instruction. The control device determines the position point position information, position point function information, position point arrangement order information, position point movement reference information, and accessory point information of the target position point from the position point configuration table stored in itself according to the target position point identification information indicated by the received instruction, so as to flexibly control the moving stroke of the mover based on this information.

[0161] In the configuration method of the linear motor device provided in the embodiment of the present application, the host computer generates a position test instruction based on the test identification information, sends the position test instruction to the control device, receives the mover test information sent by the control device based on the position test instruction, and sets the position point based on the mover test information. Thus, the position test instruction generated by the host computer includes the test identification information, realizing that the host computer designates the test mover, eliminating the need for the control device to determine the test mover by itself, simplifying the built-in program code in the control device, and thus reducing the computing power requirement of the control device; afterwards, the host computer can ensure that the control device can obtain accurate mover test information by sending the position test instruction to the control device after determining that the test mover has moved to the position corresponding to the test reference object, and / or by sending the position test instruction to the control device after determining that the stationary duration of the mover reaches the preset duration threshold; then, the host computer can set the position point configuration parameters of the position point according to the mover test information, including position point position information, position point identification information, position point arrangement order information, position point function information, and position point movement reference information. Each type of information can be used to control the moving stroke of the mover, including controlling the position, motion state, start, stop, etc. of the mover. Therefore, the host computer can flexibly set the position point according to the mover test information, and since the mover test information is obtained based on the test mover, the set position point can represent the positions that the mover can reach along the stator line, and the moving stroke of the mover can be controlled using the position point, thereby realizing the automatic control of the moving stroke of the mover, improving the convenience and efficiency of the mover movement control, ensuring the accuracy of the mover moving stroke, avoiding the adverse effects caused by manual control of the mover moving stroke, and improving the conveying efficiency of the linear motor.

[0162] Please refer to Figure 11 , which is a schematic flow chart of a configuration method of a linear motor device provided in an embodiment of the present application. The execution subject of this method is the control device of the linear motor device. The control device is connected to the host computer. The linear motor device further includes a stator line and at least one mover. The control device is used to control the mover to move along the stator line. Specifically, this method can include the following steps:

[0163] S1101, receive the position test instruction sent by the host computer.

[0164] In some embodiments, the position test instruction received by the control device may indicate the test mover, which is determined by the host computer, that is, the control device does not need to determine the test mover. After the control device receives the position test instruction, the control device can obtain the test mover indicated by the position test instruction.

[0165] In still other embodiments, the position test instruction received by the control device may indicate that the control device determines the test mover. Specifically, after the control device receives the position test instruction, the control device can determine the test mover from the movers assembled on the stator line according to the indication of the position test instruction.

[0166] For the specific process of the host computer generating the position test instruction and then sending the position test instruction, reference can be made to the description in the relevant part, which will not be elaborated here.

[0167] S1102, obtain the mover test information corresponding to the test mover based on the position test instruction.

[0168] In some embodiments, when the position test instruction indicates the test mover, after the control device obtains the indicated test mover, it obtains the mover test information corresponding to the test mover.

[0169] In still other embodiments, when the position test instruction indicates that the control device determines the test mover, the control device first determines the test mover from the movers assembled on the stator line according to the position test instruction, and then obtains the mover test information corresponding to the test mover.

[0170] Specifically, the mover test information obtained by the control device may include at least one of the position information of the test mover, the mover identification information of the test mover, and the allocated order information. The control device can obtain the position information of the test mover by detecting the position where the test mover is located. For example, a position measuring device provided on at least one of the mover and the stator line can measure the position information of the test mover, and the control device can obtain the position information of the test mover from this position measuring device; or, a position measuring device independent of the mover and the stator line can also measure the position information of the test mover, and the control device can obtain the position information of the test mover from this position measuring device. The above two position measuring devices can be contact-type or non-contact-type, and the position measuring device can include one or more of an image sensor, an infrared sensor, a magnetic sensor, and a laser sensor. The control device can generate the mover identification information of the test mover, and the mover identification information of the test mover is used to characterize the source subject of the mover test information. The control device can generate the order information allocated to the mover test information, and the order information is used to indicate the acquisition order of the mover test information, that is, the order in which the currently obtained mover test information is located among the already obtained mover test information.

[0171] Specifically, during the process of the control device obtaining the mover test information corresponding to the test mover, it can control the test mover to move along the mover line body to obtain the position information of the test mover at different positions, and further generate multiple mover test information including the position information of the test mover, the mover identification information, and the assigned order information. It can be understood that controlling the test mover to move along the stator line body can be that the position test instruction sent by the host computer instructs the control device to control the test mover to move along the stator line body, or that the position test instruction sent by the host computer instructs the control device to release the servo control of the stator line body on the test mover, so that the mover can move along the stator line body under the push of an external force.

[0172] It can be understood that the control device can determine the test mover according to a preset mover selection rule. For example, the mover selection rule can stipulate that the mover within a preset distance range of the test reference object is determined as the test mover; and / or, the mover selection rule can stipulate that a specified mover is used as the test mover. The specific descriptions of the two ways of selecting movers listed here can be found in the relevant parts and will not be elaborated here.

[0173] S1103. Send the mover test information to the host computer so that the host computer can set the position points based on the mover test information.

[0174] Specifically, the way for the host computer to set the position points based on the mover test information can be specifically referred to the description in the relevant part and will not be elaborated here.

[0175] In the configuration method of the linear motor device provided in the embodiment of the present application, the control device receives the position test instruction sent by the host computer to obtain the mover test information corresponding to the test mover, and then sends the mover test information to the host computer so that the host computer can set the position points according to the mover test information. Thus, the host computer can flexibly set the position points according to the mover test information sent by the control device, and since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach by moving along the stator line body. The movement stroke of the mover can be controlled by using the position points, thereby realizing the automatic control of the mover movement stroke, improving the convenience and efficiency of the mover movement control, ensuring the accuracy of the mover movement stroke, avoiding the adverse effects caused by manual control of the mover movement stroke, and improving the conveying efficiency of the linear motor.

[0176] Please refer to Figure 12, which is a schematic flowchart of a configuration method for a linear motor device provided by an embodiment of the present application. The execution subject of this method is the control device of the linear motor device. The control device is connected to the host computer. The linear motor device further includes a stator line body and at least one mover. The control device is used to control the mover to move along the stator line body. Specifically, this method may include the following steps:

[0177] S1201, Receive a position test instruction sent by the host computer.

[0178] In an embodiment of the present application, the position test instruction may include indication information for instructing the control device to determine a test mover and obtain mover test information corresponding to the test mover.

[0179] S1202, Determine the test mover.

[0180] In some embodiments, in response to the position test instruction, the control device determines the mover within a preset distance range of the test reference object as the test mover. For specific reference, please refer to the relevant part of the description and will not be elaborated here.

[0181] In still other embodiments, in response to the position test instruction, the control device may determine the test mover based on an input operation. Among them, the input operation may be a user input operation. The input operation includes a mover selected by the user from the movers installed on the stator line body, and the input operation instructs the control device to use the mover selected by the user as the test mover.

[0182] In still other embodiments, in response to the position test instruction, the control device may obtain the specified mover from the position test instruction and use the specified mover as the test mover. For specific reference, please refer to the relevant part of the description and will not be elaborated here.

[0183] Thus, the embodiments of the present application provide multiple ways to determine the test mover. In actual applications, the way to determine the test mover can be flexibly selected according to the application scenario.

[0184] S1203, Obtain the mover test information corresponding to the test mover based on the position test instruction.

[0185] In some embodiments, based on the position test instruction, after determining that the test mover moves to the position corresponding to the test reference object, obtain the mover test information corresponding to the test mover. Among them, the position test instruction may include position indication information for instructing the position corresponding to the test reference object, or the control device may preset this position indication information internally. This position indication information is used to instruct the control device to obtain the mover test information after monitoring that the test mover moves to the position corresponding to the test reference object. For the specific situation where the test mover moves to the position corresponding to the test reference object, please refer to the relevant part of the description and will not be elaborated here.

[0186] Thus, by determining the position where the test mover moves to the corresponding test reference object and then obtaining the mover test information, it can be ensured that the control device can obtain accurate mover test information.

[0187] In some other embodiments, based on the position test instruction, after determining that the stationary duration of the test mover reaches a preset duration threshold, the mover test information corresponding to the test mover is obtained. Wherein, the position test instruction may include duration threshold information, or the control device can preset duration threshold information internally, and this duration threshold information is used to indicate the duration that the control device waits after the test mover is stationary. This can ensure that the test mover is in a stable state, which is beneficial to obtaining more accurate mover test information.

[0188] Furthermore, when the position test instruction sent by the host computer instructs the control device to release the servo control of the stator line for the test mover, after determining that the stationary duration of the test mover reaches the preset duration threshold, it can trigger the control device to perform the operation of obtaining the mover test information corresponding to the test mover, so as to automatically obtain the mover test information corresponding to the test mover without the host computer issuing other instructions.

[0189] In some other embodiments, based on the position test instruction, after determining that the test mover moves to the position corresponding to the test reference object and the stationary duration of the test mover reaches the preset duration threshold, the mover test information corresponding to the test mover is obtained.

[0190] The control device obtaining the mover test information corresponding to the test mover may specifically include at least one of the following: obtaining the position information of the test mover; obtaining the mover identification information of the test mover; obtaining the allocated order information, where the order information is used to represent the acquisition order of the mover test information.

[0191] For example, the control device obtaining the mover test information corresponding to the test mover may be: obtaining the position information of the test mover and using the position information of the test mover as the mover test information; or, it may be: obtaining the position information of the test mover and the mover identification information of the test mover and using the position information and the mover identification information of the test mover as the mover test information; or, it may be: obtaining the position information of the test mover, obtaining the allocated order information, obtaining the mover identification information of the test mover, and using the position information, the mover identification information, and the order information of the test mover as the mover test information.

[0192] Thus, by obtaining rich mover test information, it provides convenience for the host computer to set position points.

[0193] S1204, Send the mover test information to the host computer so that the host computer sets position points based on the mover test information.

[0194] Specifically, the way for the host computer to set the position points based on the mover test information can be specifically referred to the description in the relevant part.

[0195] In the configuration method of the linear motor device provided in the embodiment of the present application, the control device determines the test mover by receiving the position test instruction sent by the host computer to obtain the mover test information corresponding to the test mover, and then sends the mover test information to the host computer, so that the host computer can set the position points according to the mover test information. In the embodiment of the present application, the control device can have multiple ways to determine the test mover. In actual application, the way to determine the test mover can be flexibly selected according to the application scenario. Moreover, the control device has multiple ways to obtain the mover test information, and each way to obtain the mover test information can ensure that the control device obtains accurate mover test information. Further, the control device sends the mover test information to the host computer, so that the host computer can flexibly set the position points according to the mover test information. And since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach by moving along the stator line body. The moving stroke of the mover can be controlled by using the position points, so as to realize the automatic control of the moving stroke of the mover, improve the convenience and efficiency of the moving control of the mover, ensure the accuracy of the moving stroke of the mover, avoid the adverse effects caused by manually controlling the moving stroke of the mover, and improve the conveying efficiency of the linear motor.

[0196] It should be noted that the above content and drawings describe multiple embodiments of the configuration method of the linear motor device provided in the present application. The above embodiments mainly introduce and explain with the execution subject of the method being the host computer or the control device in the linear motor device connected to the host computer. Therefore, the above embodiments can be applied to the configuration scenario composed of the host computer and the linear motor device. The control method of the linear motor device applied to this configuration scenario will be described in detail below with specific embodiments and drawings.

[0197] Please refer to Figure 13 , which is a schematic flowchart of a control method of a linear motor device provided in an embodiment of the present application. The execution subject of this method is the host computer, and the host computer is connected to the control device in the linear motor device. The linear motor device further includes a stator line body and at least one mover, and the control device is used to control the mover to move along the stator line body. Specifically, this method can include the following steps:

[0198] S1301, generate a position guiding instruction based on the target position point.

[0199] Among them, the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover. The mover test information is obtained by the control device based on the position test instruction sent by the host computer and then sent to the host computer. The position points are set by the host computer in the configuration scenario of the linear motor device. For the specific method of the host computer setting the position points, reference can be made to the relevant descriptions in the configuration method of the linear motor device.

[0200] The position guiding instruction can be understood as an instruction for instructing the control device to control the moving stroke of the mover according to the target position point.

[0201] In the embodiment of the present application, before executing step S1301, the host computer can determine the target position point. Then, when executing step S1301, the host computer obtains the position point configuration parameters of the target position point and generates a position guiding instruction according to the position point configuration parameters of the target position point. Among them, the position point configuration parameters of the target position point may include at least one of position point position information, position point identification information, position point function information, position point arrangement order information, and position point movement reference information. The position point configuration parameters of the target position point may further include accessory point information. In this scenario, the host computer determines the target position point, and there is no need for the control device to determine the target position point.

[0202] It can be understood that for the specific meanings of various information in the position point configuration parameters of the target position point, reference can be made to the relevant parts in the embodiments of the above-mentioned configuration method of the linear motor device, and details are not described herein again.

[0203] Specifically, the host computer determines the target position point in the following ways: the host computer determines the target position point based on the user input operation, and the user input operation includes the target position point selected by the user; or, the host computer determines the target position point according to the preset position point selection method; or, the host computer sequentially selects the position points as the target position points according to the position point arrangement order information.

[0204] S1302: Send the position guiding instruction to the control device. The position guiding instruction is used to instruct the control device to control the moving stroke of the mover based on the target position point.

[0205] In some embodiments, the host computer sends a position guiding instruction to the control device. The control device determines the target position point according to the position guiding instruction, and then controls the moving stroke of the mover based on the target position point. It can be understood that the target position points selected at different times can be the same or different; the movers corresponding to the target position points at different times can be the same or different; for the same target position point, the control device can control one or more movers to sequentially pass through the target position point along the stator line; for the same mover, the control device can control the mover to sequentially pass through different target position points along the stator line. For example, when the position guiding instruction indicates that the host computer selects two target position points, the first selected target position point is the position point used as the operation point, and the second selected target position point is the position point used as the stop point, the control device can control a certain mover to reach the first target position point according to the indication, so that the operation device corresponding to the operation point can perform an interactive operation on the mover. After the interactive operation is completed, the control device can then control the mover to reach the second target position point, so that the mover stops at the target position point after completing the moving stroke.

[0206] In the control method of the linear motor device provided in the embodiments of the present application, by generating a position guiding instruction from the target position point selected from the position points set by the host computer based on the mover test information corresponding to the test mover and sending the position guiding instruction to the control device, the control device can control the moving stroke of the mover based on the target position point. Since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information. And since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can move to along the stator line. The target position point selected from the position points can guide the mover to move along the stator line to a target position that meets the stroke requirement, thereby realizing the automatic control of the mover's moving stroke, improving the convenience and efficiency of the mover's movement control, and ensuring the accuracy of the mover's moving stroke, thus avoiding the adverse effects caused by manual control of the mover's moving stroke and improving the conveying efficiency of the linear motor.

[0207] Please refer to Figure 14 , which is a schematic flowchart of a control method for a linear motor device provided in the embodiments of the present application. The execution subject of this method is the host computer, which is connected to the control device in the linear motor device. The linear motor device further includes a stator line and at least one mover, and the control device is used to control the mover to move along the stator line. Specifically, this method may include the following steps:

[0208] S1401, determine the target position point based on a preset position point selection method.

[0209] Among them, the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover. The mover test information is obtained by the control device based on the position test instruction sent by the host computer and sent to the host computer. The position points are set by the host computer in the configuration scenario of the linear motor device. For the specific method of the host computer setting the position points, reference can be made to the relevant descriptions in the configuration method of the linear motor device.

[0210] In some embodiments, the preset position point selection method can be a cyclic selection method. The target position points selected by the cyclic selection method can provide the moving stroke of the return path for the mover and can also provide the moving stroke of the circumferential path for the mover. For example, reference can be made to Figure 15 , which is a schematic diagram of a mover moving path provided by an embodiment of the present application. The following combines Figure 15 to explain and illustrate the target position points indicating the return path obtained by the cyclic selection method: As Figure 15 shown, during the process of setting the position points, the host computer sets the operation point 1 as the position point corresponding to the operation device 1512 and sets the operation point 2 as the position point corresponding to the operation device 1514. The operation point 1 and the operation point 2 can be used to record the one-way path of the mover 1502-1 along the stator line 1504, and can also be used to record the return path of the mover 1502-1 along the stator line 1504. In the one-way path, the mover does not need to change the moving direction, while in the return path, the mover needs to change the moving direction. During the process of determining the target position points, the host computer can select N first target position points used as the operation point 1 and M second target position points used as the operation point 2 from the set position points by the cyclic selection method, and the first target position points and the second target position points are alternately selected, where N and M are positive integers, and N and M can be the same or different. In this way, the target position points selected cyclically are used to reproduce the return path of the mover. Among them, the cyclic selection method can be obtained based on manual input operations. The manual operation indicates that the operation point 1 and the operation point 2 are used as the target position points for cyclic selection and indicates the cyclic selection times of the operation point 1 and the operation point 2.

[0211] For another example, reference can be made to Figure 16 , which is another schematic diagram of a mover moving path provided by an embodiment of the present application. The following combines Figure 16 to explain and illustrate the target position points indicating the return path obtained by the cyclic selection method: As Figure 16As shown, during the process of setting the position points, the host computer sets the operation point 3 as the position point corresponding to the operation device 1612, sets the operation point 4 as the position point corresponding to the operation device 1614, sets the operation point 5 as the position point corresponding to the operation device 1616, and sets the operation point 6 as the position point corresponding to the operation device 1618. The operation points 3, 4, 5, and 6 can form a clockwise circumferential path. Therefore, the operation points 3, 4, 5, and 6 can be used to record the circumferential path of the mover 1602-1 along the stator line 1604. During the process of determining the target position points, the host computer can select P first target position points used as the operation point 3, Q second target position points used as the operation point 4, R third target position points used as the operation point 5, and S fourth target position points used as the operation point 6 from the set position points by means of cyclic selection, and the first target position point to the fourth target position point are alternately selected, where P, Q, R, and S are positive integers, and P, Q, R, and S can be partially the same, completely the same, or completely different. In this way, the cyclically selected target position points are used to reproduce the circumferential path of the mover. Among them, the cyclic selection method can be obtained based on manual input operations, and the manual operation instructs to use the operation points 3 to 6 as the target position points for cyclic selection and indicates the cyclic selection times of the operation points 3 to 6.

[0212] Thus, in practical applications, the preset position point selection method can be flexibly configured in the host computer according to the application scenario, so that the target position points meeting the travel requirements can be flexibly selected.

[0213] S1402, generate a position guidance instruction based on the target position point.

[0214] In some embodiments, performing S1402 may include at least one of the following steps A and step B:

[0215] Step A: Obtain the position point configuration parameters corresponding to the target position point, and generate a position guidance instruction based on the position point configuration parameters;

[0216] Step B: Obtain the position point configuration parameters corresponding to the target position point and the guidance object information corresponding to the target position point, and generate a position guidance instruction based on the position point configuration parameters and the guidance object information.

[0217] Among them, the position point configuration parameters include at least one of the following information: position point location information, position point identification information, position point arrangement order information, position point motion reference information, position point function information, and accessory point information. Among them, the guidance object information is used to indicate the target mover or the judgment method of the target mover. Among them, the target mover is the mover that needs to be controlled by the control device to move.

[0218] Exemplarily, when the implementation of S1402 is step A, after the host computer obtains the position point configuration parameters corresponding to the target position points, a position guidance instruction including the position point configuration parameters can be generated. It can be understood that when the host computer selects multiple target position points, a position guidance instruction can be generated through step A. The position guidance instruction can include the position point configuration parameters corresponding to each target position point, and the position guidance instruction further includes the parameter sequence information of each position point configuration parameter. The parameter sequence information is an indication information for instructing the control device to control the mover to move according to the parameter sequence of each position point configuration parameter. Among them, the parameter sequence is the selection sequence of the target position points corresponding to the position point configuration parameters. When the host computer selects multiple target position points, multiple position guidance instructions can also be generated through step A. Each position guidance instruction corresponds to a target position point, and each position guidance instruction can include the position point configuration parameter and the parameter sequence information of the position point configuration parameter.

[0219] In this implementation manner, the position guidance instruction does not indicate the mover controlled by the control device, and the control device can determine the controlled mover, reducing the program code executed by the host computer and improving the execution efficiency of the host computer.

[0220] Exemplarily, when the implementation of S1402 is step B, after the host computer obtains the position point configuration parameters corresponding to the target position points and the guidance object information corresponding to the target position points, a position guidance instruction including the position point configuration parameters and the guidance object information can be generated. Specifically, for the host computer to obtain the guidance object information corresponding to the target position point, it can be: obtaining the guidance object configuration operation input by the user, and obtaining the guidance object information corresponding to the target position point indicated by the guidance object configuration operation. It can be understood that when the host computer selects multiple target position points, a position guidance instruction can be generated through step B. The position guidance instruction can include the position point configuration parameters corresponding to each target position point and the guidance object information corresponding to each target position point, and the position guidance instruction further includes the parameter sequence information of each position point configuration parameter. The parameter sequence information is an indication information for instructing the control device to control the mover to move according to the parameter sequence of each position point configuration parameter. Among them, the parameter sequence is the selection sequence of the target position points corresponding to the position point configuration parameters. When the host computer selects multiple target position points, multiple position guidance instructions can also be generated through step B. Each position guidance instruction corresponds to a target position point, and each position guidance instruction can include the position point configuration parameter corresponding to the target position point, the parameter sequence information of the position point configuration parameter, and the guidance object information corresponding to the target position point.

[0221] In this embodiment, the position guidance instruction indicates the mover controlled by the control device or the determination method of the mover to be controlled, without the need for the control device to determine the mover to be controlled or the determination method of the mover to be controlled, which can simplify the program code built into the control device, thereby reducing the computing power requirements of the control device.

[0222] Exemplarily, when executing step S1402 including step A and step B, a position guidance instruction including the position point configuration parameters corresponding to the target position point and the guidance object information can be generated through step B, and a position guidance instruction including the position point configuration parameters corresponding to the target position point can be generated through step A. Among them, the selection order of the target position points indicated by the position guidance instruction generated through step B is earlier than the selection order of the target position points indicated by the position guidance instruction generated through step A. The target position points with a later selection order and the target position points with an earlier selection order are the position points used to control the movement stroke of the same mover. Therefore, generating a position guidance instruction including the guidance object information through step B can indicate the mover controlled by the control device, and subsequently generating a position guidance instruction without the guidance object information through step A can continue to be used to control the movement stroke of the mover, reducing the amount of information carried by the position guidance instruction, thereby saving the efficiency of the host computer in generating multiple position guidance instructions.

[0223] S1403, send the position guidance instruction to the control device.

[0224] Among them, the position guidance instruction is used to instruct the control device to control the movement stroke of the mover based on the target position point.

[0225] It can be understood that the position guidance instruction can not only indicate the target position point, but also indicate the target mover or the determination method of the target mover; or, the position guidance instruction indicates the target position point, but does not indicate the target mover or the determination method of the target mover. Among them, the target mover refers to the mover that the control device is about to control. For example, in response to the position guidance instruction, the control device obtains the target position point and the target mover indicated by the position guidance instruction, and the control device controls the movement stroke of the target mover according to the target position point. Another example is that in response to the position guidance instruction, the control device obtains the target position point indicated by the position guidance instruction, the control device determines the target mover, and the control device controls the movement stroke of the target mover according to the target position point.

[0226] In the control method of the linear motor device provided in the embodiment of the present application, the host computer can determine the target position point through a preset position point selection method. Therefore, in practical applications, the preset position point selection method can be flexibly configured in the host computer according to the application scenario, so that the target position point that meets the stroke requirement can be flexibly selected. After the host computer selects the target position point, a position guidance instruction can be generated according to the position point configuration parameters corresponding to the target position point, and / or a position guidance instruction can be generated according to the position point configuration parameters corresponding to the target position point and the guidance object information, and then the position guidance instruction is sent to the control device so that the control device can control the moving stroke of the mover according to the position guidance instruction. Thus, in the embodiment where the position guidance instruction does not indicate the mover controlled by the control device, the control device can determine the controlled mover, reducing the program code executed by the host computer and improving the execution efficiency of the host computer. In the embodiment where the position guidance instruction indicates the mover controlled by the control device or the judgment method of the controlled mover, there is no need for the control device to determine the controlled mover or the judgment method of the controlled mover, which can simplify the program code built in the control device, thereby reducing the computing power requirement of the control device. In the embodiment where there are both position guidance instructions indicating the mover controlled by the control device and position guidance instructions not indicating the mover controlled by the control device, the target position points indicated by these position guidance instructions are the position points for controlling the moving stroke of the same mover, and it is not necessary for each position guidance instruction to carry the indication information of the mover, reducing the amount of information carried by the position guidance instruction, thereby saving the efficiency of the host computer in generating multiple position guidance instructions. In addition, since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information, and since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can move to along the stator line body, and the target position point selected from the position points can guide the mover to move along the stator line body to a target position that meets the stroke requirement, thereby realizing the automatic control of the moving stroke of the mover, improving the convenience and efficiency of the mover movement control, and ensuring the accuracy of the mover movement stroke, thereby avoiding the adverse effects caused by manual control of the mover movement stroke and improving the conveying efficiency of the linear motor.

[0227] Please refer to Figure 17 , which is a schematic flowchart of a control method for a linear motor device provided in an embodiment of the present application. The execution subject of this method is the host computer, and the host computer is connected to the control device in the linear motor device. The linear motor device further includes a stator line body and at least one mover, and the control device is used to control the mover to move along the stator line body. Specifically, this method may include the following steps:

[0228] S1701, sequentially select the position points as the target position points based on the position point arrangement order information.

[0229] Among them, the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover. The mover test information is obtained by the control device based on the position test instruction sent by the host computer and then sent to the host computer. The position points are set by the host computer in the configuration scenario of the linear motor device. For the specific method of the host computer setting the position points, please refer to the relevant description in the configuration method of the linear motor device.

[0230] It can be understood that in the method of the host computer setting the position points, the position point arrangement order information set by the host computer for the position points refers to the information used to represent the arrangement order of a certain position point among multiple position points. The position point arrangement order information is set through the acquisition order of the mover test information. The position point arrangement order information is used to record the movement path of the test mover. Therefore, when executing S1701, the host computer can determine multiple position points with position point arrangement order information set, and then determine the order value in the position point arrangement order information. According to the order value from small to large, the position points are sequentially selected as the target position points.

[0231] For example, refer to Figure 18 , which is a schematic diagram of another movement path of the mover in the embodiment of the present application.

[0232] Before setting the position points, the host computer sequentially obtains the mover test information corresponding to the position of the test mover 1802-1 at the start / stop point 1, the mover test information corresponding to the position of the test mover 1802-1 at the operation point 7, the mover test information corresponding to the position of the test mover 1802-1 at the operation point 8, and the mover test information corresponding to the position of the test mover 1802-1 at the start / stop point 2. During the process of the host computer sequentially obtaining the above-mentioned multiple mover test information, the control device controls the test mover 1802-1 to move along the stator line 1804 to obtain the mover test information. When the host computer sets the position points, based on each mover test information, the host computer sets the position information of the position points, and sets the arrangement order information of the position points through the acquisition order in each mover test information. For example, the acquisition order of the mover test information corresponding to the position of the test mover 1802-1 at the start / stop point 1 is 1, and the order value in the arrangement order information of the set points corresponding to the start / stop point 1 as the set point is 1. The acquisition order of the mover test information corresponding to the position of the test mover 1802-1 at the operation point 7 is 2, and the order value in the arrangement order information of the set points corresponding to the operation point 7 as the set point is 2, and so on. The order value in the arrangement order information of the set points corresponding to the operation point 8 as the set point is 3, and the order value in the arrangement order information of the set points corresponding to the start / stop point 2 as the set point is 4. Thus, the arrangement order information of the set points realizes the recording of the movement path of the mover. Therefore, when executing S1701, the target position points sequentially selected through the arrangement order information of the position points can be used to indicate the movement path of the mover, so that the mover can move in the determined movement path, realizing the automatic control of the mover stroke, and at the same time ensuring the accuracy of the mover movement stroke.

[0233] Thus, selecting the target position points according to the arrangement order information of the position points can simplify the logic code for the host computer to select the target position points, thereby improving the execution efficiency of the host computer.

[0234] S1702, generate a position guidance instruction based on the target position points.

[0235] S1703, send the position guidance instruction to the control device.

[0236] Specifically, the implementation processes of S1702 and S1703 can refer to the descriptions in the relevant parts and will not be elaborated here.

[0237] In the control method of the linear motor device provided in the embodiment of the present application, the host computer can sequentially select position points as target position points according to the position point arrangement sequence information. Thus, the logic code for the host computer to select target position points can be simplified, and the execution efficiency of the host computer can be improved. After the host computer selects the target position points, a position guidance instruction can be generated according to the position point configuration parameters corresponding to the target position points, and / or a position guidance instruction can be generated according to the position point configuration parameters corresponding to the target position points and the guidance object information, and then the position guidance instruction is sent to the control device so that the control device can control the moving stroke of the mover according to the position guidance instruction. Thus, in the embodiment where the position guidance instruction does not indicate the mover controlled by the control device, the control device can determine the controlled mover, reducing the program code executed by the host computer and improving the execution efficiency of the host computer. In the embodiment where the position guidance instruction indicates the mover controlled by the control device or the determination method of the controlled mover, there is no need for the control device to determine the controlled mover or the determination method of the controlled mover, which can simplify the program code built into the control device, thereby reducing the computing power requirements of the control device. In the embodiment where there are both position guidance instructions indicating the mover controlled by the control device and position guidance instructions not indicating the mover controlled by the control device, the target position points indicated by these position instructions are the position points used to control the moving stroke of the same mover, and it is not necessary for each position guidance instruction to carry the indication information of the mover, reducing the amount of information carried by the position guidance instructions, thereby saving the efficiency of the host computer in generating multiple position guidance instructions. In addition, since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information, and since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach along the stator line, and the target position points selected from the position points can guide the mover to move along the stator line to a target position that meets the stroke requirements, thereby realizing the automatic control of the mover's moving stroke, improving the convenience and efficiency of the mover's movement control, and ensuring the accuracy of the mover's moving stroke, thus avoiding the adverse effects caused by manually controlling the mover's moving stroke and improving the conveying efficiency of the linear motor.

[0238] Please refer to Figure 19 , which is a schematic flowchart of a control method for a linear motor device provided in an embodiment of the present application. The execution subject of this method is the control device in the linear motor device. The linear motor device further includes a stator line and at least one mover. The control device is used to control the mover to move along the stator line, and the control device is connected to the host computer. Specifically, this method may include the following steps:

[0239] S1901, receive the position guidance instruction sent by the host computer.

[0240] Among them, the position guidance instruction is generated by the host computer based on the target position point, and the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover. The mover test information is obtained by the control device based on the position test instruction sent by the host computer and sent to the host computer. The specific method for the host computer to set the position point based on the mover test information corresponding to the test mover can be referred to the description in the relevant part, which will not be elaborated here.

[0241] In some embodiments, the position guidance instruction received by the control device may indicate the target position point, and may also indicate the target mover or the determination method of the target mover. Among them, the target mover refers to the mover that the control device will control. The target mover is determined by the host computer, or the determination method of the target mover is determined by the host computer, that is, the control device does not need to determine the target mover or the determination method of the target mover. After the control device receives the position guidance instruction, the control device can obtain the target position point and the target mover, or the control device can obtain the target position point and the determination method of the target mover.

[0242] In still other embodiments, the position guidance instruction received by the control device may indicate the target position point, but does not indicate the target mover or the determination method of the target mover. After the control device receives the position guidance instruction, the control device can obtain the target position point, and the control device can determine the target mover.

[0243] Exemplarily, refer to Figure 20 Another signaling interaction schematic diagram between the host computer and the control device shown in the figure. As Figure 20 shown, the host computer first generates a position guidance instruction, and then sends the position guidance instruction to the control device. After the control device receives the position guidance instruction, the control device controls the moving stroke of the mover to correspond to the target position point. Among them, the position guidance instruction at least includes the indication information of the target position point, so that the control device can obtain the target position point selected by the host computer, and there is no need for the control device to select the target position point, thereby simplifying the built-in program code in the control device and reducing the computing power requirement of the control device.

[0244] S1902, based on the position guidance instruction, control the moving stroke of the mover to correspond to the target position point.

[0245] In some embodiments, in response to a position guiding instruction, the control device determines a target position point and a target mover, and controls the moving stroke of the target mover based on the target position point. As can be known from the method of setting the position point described in the relevant part, when setting the position point, position point configuration parameters are set for the position point, including position point position information, position point identification information, position point function information, position point arrangement order information, position point movement reference information, and also including attached point information. Taking the position point position information as an example, controlling the moving stroke of the target mover based on the target position point can be understood as the control device controlling the target mover to move to the position indicated by the position point position information of the target position point. Taking the position point position information and the position point function information as an example, controlling the moving stroke of the target mover based on the target position point can be understood as the control device controlling the target mover to move to the position indicated by the target point position information, and then controlling the target mover to be in the mover state indicated by the function according to the function indicated by the position point function information. Taking the position point position information and the position point arrangement order information as an example, controlling the moving stroke of the target mover based on the target position point can be understood as the control device controlling the order in which the target mover reaches the position indicated by the position point position information according to the position point arrangement order information.

[0246] In the control method of the linear motor device provided in the embodiments of the present application, the control device receives a position guiding instruction from the host computer, and then controls the moving stroke of the mover to correspond to the target position point through the position guiding instruction. Since the position point is set according to the mover test information, the position point can be flexibly set according to the actual situation of the mover test information. And since the mover test information is obtained based on the test mover, the set position point can represent the positions that the mover can reach along the stator line. The target position point selected from the position points can guide the mover to move along the stator line to the target position that meets the stroke requirement, thereby realizing the automatic control of the mover moving stroke, improving the convenience and efficiency of the mover moving control, and being able to ensure the accuracy of the mover moving stroke, avoiding the adverse effects caused by manually controlling the mover moving stroke, and improving the conveying efficiency of the linear motor.

[0247] Please refer to Figure 21 , which is a schematic flow chart of a control method of a linear motor device provided in the embodiments of the present application. The execution subject of this method is the control device in the linear motor device. The linear motor device further includes a stator line and at least one mover. The control device is used to control the mover to move along the stator line, and the control device is connected to the host computer. Specifically, this method may include the following steps:

[0248] S2101, receive the position guiding instruction sent by the host computer.

[0249] In some embodiments, the position guidance instruction received by the control device may indicate a target position point, and may also indicate a target mover or a determination method of the target mover, where the target mover refers to the mover that the control device is going to control. The target mover is determined by the host computer, or the determination method of the target mover is determined by the host computer, that is, the control device does not need to determine the target mover or the determination method of the target mover. After the control device receives the position guidance instruction, the control device can obtain the target position point and the target mover, or the control device can obtain the target position point and the determination method of the target mover.

[0250] In still other embodiments, the position guidance instruction received by the control device may indicate a target position point, but does not indicate the target mover or the determination method of the target mover. After the control device receives the position guidance instruction, the control device can obtain the target position point, and the control device can determine the target mover.

[0251] In still other embodiments, the position guidance instruction received by the control device may indicate a selection method of the target position point, and at the same time does not indicate the target mover or the determination method of the target mover. After the control device receives the position guidance instruction, the control device can obtain the selection method of the target position point indicated by the position guidance instruction, obtain the target position point according to the selection method of the target position point, and then determine the target mover.

[0252] S2102. Based on the target position point indicated by the position guidance instruction, determine the target mover, and control the moving stroke of the target mover based on the target position point.

[0253] Among them, the position guidance instruction may indicate the target position point, but does not indicate the target mover or the determination method of the target mover.

[0254] In the embodiments of the present application, based on the position guidance instruction, obtain the position point configuration parameter corresponding to the target position point, and based on the position point configuration parameter, determine the target mover and control the moving stroke of the target mover.

[0255] Among them, the position point configuration parameter includes at least one of position point position information, position point identification information, position point arrangement order information, position point movement reference information, position point function information, and accessory point information.

[0256] Specifically, the control device can obtain the position point configuration parameter corresponding to the indicated target position point from the position guidance instruction.

[0257] Exemplarily, determining the target mover based on the position point configuration parameter may be: determining the repeated position points and the number of repetitions of the repeated position points based on the position point configuration parameter, and determining the target mover based on the repeated position points and the number of repetitions of the repeated position points. The control device can judge the movement path recorded by the target position point through the repeated position points and the number of repetitions of the repeated position points. Different movement paths can apply different movers for movement. Therefore, the target mover can be determined through the movement path. For example, if the control device identifies the position point configuration parameter and confirms that there are no repeated position points and the number of repetitions is also 0, then the control device can determine that the movement path recorded by the target position point indicated by the position guidance instruction is a one-way path, and the control device can select a mover suitable for the one-way path from the movers assembled on the stator line as the target mover. Another example, if the control device identifies the position point configuration parameter and confirms that all the target position points indicated by the position guidance instruction are repeated position points, and the number of repetitions of each repeated position point is the same and greater than 1, then the control device can determine that the movement path recorded by the target position point indicated by the position guidance instruction is a back-and-forth path, and the control device can select a mover suitable for the back-and-forth path from the movers assembled on the stator line as the target mover. Thus, the movement path recorded by the target position point can be determined according to the position point configuration parameter, and the target mover can be flexibly selected according to the movement path.

[0258] Exemplarily, determining the target mover based on the position point configuration parameter may be: obtaining the preset guidance object information corresponding to the position point configuration parameter, and determining the target mover based on the preset guidance object information. Among them, the preset guidance object information is pre-stored locally in the control device and is the mover indication information corresponding to the target position point. The preset guidance object information is used to indicate the target mover or the judgment method of the target mover. Therefore, after the control device obtains the position point configuration parameter, it can obtain the preset guidance object information corresponding to the position point configuration parameter from the local to quickly determine the target mover.

[0259] It can be understood that the position point configuration parameters include position point position information, position point identification information, position point function information, position point arrangement order information, position point movement reference information, and also include attachment point information. Taking the position point position information as an example, controlling the movement stroke of the target mover based on the position point configuration parameters can be understood as the control device controlling the target mover to move to the position indicated by the position point position information of the target position point. Taking the position point position information and the position point function information as an example, controlling the movement stroke of the target mover based on the position point configuration parameters can be understood as that after the control device controls the target mover to move to the position indicated by the target point position information, the control device controls the target mover to be in the mover state indicated by the function according to the function indicated by the position point function information. Taking the position point position information and the position point arrangement order information as an example, controlling the movement stroke of the target mover based on the position point configuration parameters can be understood as the control device controlling the order in which the target mover reaches the position indicated by the position point position information according to the position point arrangement order information. Taking the position point position information and the position point movement reference information as an example, controlling the movement stroke of the target mover based on the position point configuration parameters can be understood as the control device controlling the target mover to move to the position indicated by the target position point, and the control device controlling the movement state when moving to the position indicated by the target position point according to the position point movement reference information. Taking the attachment point information as an example, controlling the movement stroke of the target mover based on the position point configuration parameters can be understood as the control device controlling the target mover to move to the position where the attachment point associated with the target position point is located.

[0260] Thus, when the position guidance instruction indicates the target position point and does not indicate the target mover or the judgment method of the target mover, the control device determines the target mover, which can reduce the amount of information carried by the position guidance instruction generated by the host computer, thereby saving the time for the host computer to generate the position guidance instruction and improving the execution efficiency of the host computer.

[0261] S2103, control the movement stroke of the target mover to correspond to the target position point based on the target position point and the target mover indicated by the position guidance instruction.

[0262] Among them, the position guidance instruction can indicate the target position point, and can also indicate the target mover or the judgment method of the target mover.

[0263] In the embodiment of the present application, based on the position guidance instruction, the position point configuration parameters corresponding to the target position point and the guidance object information corresponding to the target position point are determined, and based on the position point configuration parameters, the movement stroke of the target mover corresponding to the guidance object information is controlled. Among them, the guidance object information is used to indicate the target mover or the judgment method of the target mover. Specifically, the control device can obtain the position point configuration parameters corresponding to the indicated target position point and the guidance object information corresponding to the target position point from the position guidance instruction.

[0264] It is understandable that the implementation manner of the control device for controlling the moving stroke of the target mover based on the position point configuration parameters can be specifically referred to the description in the relevant part, which will not be elaborated here.

[0265] Thus, when the position guiding instruction indicates the target position point and the target mover, the host computer determines the target mover, and there is no need for the control device to determine the target mover, which can simplify the built-in program code in the control device, thereby reducing the computing power requirement of the control device.

[0266] S2104, determining the target position point from the position points based on the position guiding instruction, and determining the target mover and controlling the moving stroke of the target mover based on the target position point.

[0267] Among them, the position guiding instruction can indicate the selection method of the target position point, and at the same time does not indicate the target mover or the judgment method of the target mover.

[0268] In the embodiment of the present application, the control device obtains the selection method of the target position point from the position guiding instruction, and then determines the target position point from the position points stored locally according to the selection method of the target position point, obtains the position point configuration parameter corresponding to the target position point, and determines the target mover and controls the moving stroke of the target mover based on the position point configuration parameter.

[0269] Specifically, the selection method of the target position point can be a preset selection method. For example, the preset selection method is a cyclic selection method. The process of the control device selecting the target position point by the cyclic selection method can be referred to the description in the relevant part of the method for the host computer to determine the target position point, which will not be elaborated here; for another example, the preset selection method is a sequential selection method based on the position point arrangement order information. The process of the control device selecting by the sequential selection method based on the position point arrangement order information can be referred to the description in the relevant part of the method for the host computer to determine the target position point, which will not be elaborated here.

[0270] Specifically, for the control device to determine the target mover and control the moving stroke of the target mover based on the position point configuration parameter, it can be referred to the description in the relevant part, which will not be elaborated here.

[0271] Thus, when the position guiding instruction indicates the selection method of the target position point and does not indicate the target mover or the judgment method of the target mover, the control device determines the target position point and the target mover, which can greatly reduce the information volume carried by the position guiding instruction generated by the host computer, thereby saving the time for the host computer to generate the position guiding instruction and improving the execution efficiency of the host computer.

[0272] It can be understood that in some embodiments, after executing S2101, the control device may execute one of the steps S2102, S2103, and S2104; in some other embodiments, after executing S2101, the control device may execute two of the steps S2102, S2103, and S2104; in some other embodiments, the control device may execute the three steps S2102, S2103, and S2104. When the control device executes at least two of the steps S2102, S2103, and S2104, the embodiments of the present application do not specifically limit the execution order of the at least two steps.

[0273] In the control method of the linear motor device provided in the embodiments of the present application, after the control device receives the position guiding instruction sent by the host computer, the control device may determine the target mover based on the target position point indicated by the position guiding instruction, and control the moving stroke of the target mover based on the target position point. At this time, the position guiding instruction indicates the target position point, and does not indicate the target mover or the judgment method of not indicating the target mover. The control device determines the target mover, which can reduce the amount of information carried by the position guiding instruction generated by the host computer, thereby saving the time for the host computer to generate the position guiding instruction and improving the execution efficiency of the host computer; the control device may also control the moving stroke of the target mover to correspond to the target position point based on the target position point and the target mover indicated by the position guiding instruction. At this time, the position guiding instruction indicates the target position point and the target mover, and the host computer determines the target mover without the control device determining the target mover, which can simplify the program code built in the control device, thereby reducing the computing power requirement of the control device; the control device may also determine the target position point from the position points based on the position guiding instruction, and based on the target position point, determine the target mover and control the moving stroke of the target mover. At this time, the position guiding instruction indicates the selection method of the target position point, and does not indicate the target mover or the judgment method of not indicating the target mover. The control device determines the target position point and the target mover, which can greatly reduce the amount of information carried by the position guiding instruction generated by the host computer, thereby saving the time for the host computer to generate the position guiding instruction and improving the execution efficiency of the host computer. Thus, since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information. And since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach along the stator line body. The target position point selected from the position points can guide the mover to move along the stator line body to the target position that meets the stroke requirement, thereby realizing the automatic control of the mover's moving stroke, improving the convenience and efficiency of the mover's movement control, ensuring the accuracy of the mover's moving stroke, avoiding the adverse effects caused by manually controlling the mover's moving stroke, and improving the conveying efficiency of the linear motor.

[0274] It should be noted that the above content and the accompanying drawings describe multiple embodiments of the configuration method of the linear motor device provided in this application, and also describe multiple embodiments of the control method of the linear motor device provided in the embodiments of this application. The above embodiments mainly introduce and illustrate the execution subject of the method as the host computer or the control device in the linear motor device connected to the host computer. Therefore, the above embodiments can be applied to the configuration scenario and control scenario composed of the host computer and the linear motor device. It can be understood that a single linear motor device can also be applied to the configuration scenario and control scenario of the linear motor device. The following will detail the configuration method of the linear motor device applied to this configuration scenario in combination with specific embodiments and the accompanying drawings, and detail the control method of the linear motor device applied to this control scenario in combination with specific embodiments and the accompanying drawings.

[0275] Please refer to Figure 22 , which is a schematic flowchart of a configuration method of a linear motor device provided in an embodiment of this application. The execution subject of this method is the linear motor device, and the linear motor device includes a stator wire body and at least one mover. The linear motor device can control the mover to move along the stator wire body. Specifically, this method may include the following steps:

[0276] S2201, obtain mover test information.

[0277] Among them, the mover test information is obtained based on testing the mover, and the test mover is a mover selected from the movers installed on the stator wire body for testing.

[0278] It can be understood that the mover test information may include at least one of the position information of the test mover, the mover identification information of the test mover, and the assigned order information.

[0279] In some embodiments, a test mover may be first determined, and the test mover may be controlled to move along a stator wire body to obtain mover test information corresponding to the test mover. Specifically, the position information of the test mover may be obtained by detecting the position where the test mover is located. For example, a position measuring device disposed on at least one of the mover and the stator wire body may measure the position information of the test mover, and the position information of the test mover may be obtained from the position measuring device; alternatively, a position measuring device independently disposed of the mover and the stator wire body may also measure the position information of the test mover, and the position information of the test mover may be obtained from the position measuring device. The above two position measuring devices may be contact-type or non-contact-type, and the position measuring device may include one or more of an image sensor, an infrared sensor, a magnetic sensor, and a laser sensor. Further, mover identification information of the test mover may be generated, and the mover identification information of the test mover is used to characterize the source subject of the mover test information. Further, order information assigned to the mover test information may be generated, and the order information is used to indicate the acquisition order of the mover test information, that is, the order in which the currently acquired mover test information is located among the already acquired mover test information.

[0280] Specifically, in the process of obtaining the mover test information corresponding to the test mover, the test mover may be controlled to move along a mover wire body to obtain the position information of the test mover at different positions, and further generate a plurality of mover test information including the position information of the test mover, the mover identification information, and the assigned order information. It can be understood that controlling the test mover to move along the stator wire body may be that a linear motor device controls the test mover to move along the stator wire body, or that the linear motor device releases the servo control of the stator wire body on the test mover so that the mover can move along the stator wire body under the push of an external force.

[0281] S2202, set a position point based on the mover test information.

[0282] Wherein, the position point corresponds to the stator wire body, and the position point is used to control the moving stroke of the mover.

[0283] Specifically, for the manner in which the linear motor device in the embodiment of the present application sets the position point based on the mover test information, reference may be made to the description of the relevant part in the embodiment of the host computer setting the position point, which will not be elaborated herein.

[0284] In the configuration method of the linear motor device provided in the embodiments of the present application, by obtaining the mover test information, the position points are set based on the mover test information. Thus, the position points can be flexibly set through the obtained mover test information, and since the mover test information is obtained based on the tested mover, the set position points can represent the positions that the mover can reach by moving along the stator line. The movement stroke of the mover can be controlled using the position points, thereby realizing the automatic control of the movement stroke of the mover, improving the convenience and efficiency of the mover movement control, ensuring the accuracy of the mover movement stroke, avoiding the adverse effects caused by manually controlling the mover movement stroke, and improving the conveying efficiency of the linear motor.

[0285] Please refer to Figure 23 , which is a schematic flowchart of a configuration method of a linear motor device provided in the embodiments of the present application. The execution subject of this method is the linear motor device, which includes a stator line and at least one mover, and the linear motor device can move the mover on the stator line. Specifically, this method may include the following steps:

[0286] S2301, Determine the test mover.

[0287] Among them, the test mover is the mover selected from the movers installed on the stator line for testing.

[0288] In some embodiments, the mover within the preset distance range of the test reference object can be determined as the test mover. For specific reference, please refer to the relevant part of the description, which will not be elaborated here.

[0289] In still other embodiments, the designated mover can be determined as the test mover. For specific reference, please refer to the relevant part of the description, which will not be elaborated here.

[0290] In still other embodiments, the test mover can be determined based on the input operation. Among them, the input operation can be a user input operation, and the input operation includes the mover selected by the user from the movers installed on the stator line, and the input operation indicates that the mover selected by the user is used as the test mover.

[0291] S2302, Obtain the mover test information.

[0292] In some embodiments, after determining that the test mover moves to the position corresponding to the test reference object, the mover test information corresponding to the test mover can be obtained. Among them, the test mover moving to the position corresponding to the test reference object may include, but is not limited to, the test mover moving to a position convenient for the test mover to interact with the operating device, the test mover moving to the position of the non - continuous end of the stator line, the test mover moving to the starting position, the test mover moving to the stopping position, etc. Thus, accurate mover test information can be ensured.

[0293] In some other embodiments, after determining that the stationary duration of the test mover reaches a preset duration threshold, the mover test information corresponding to the test mover can be obtained. Thus, accurate mover test information can be obtained when the mover is in a stable state.

[0294] In some other embodiments, after determining that the test mover moves to the position corresponding to the test reference object and the stationary duration of the test mover reaches a preset duration threshold, the mover test information corresponding to the test mover can be obtained.

[0295] S2303. Set a position point based on the mover test information.

[0296] Among them, according to the actual situation, one or more types of information can be set for the position point.

[0297] In some embodiments, during the process of setting a position point based on the mover test information, at least one of the following types of information can be set for the position point:

[0298] Based on the mover test information, set the position information of the position point;

[0299] Based on the mover test information, set the identification information of the position point;

[0300] Based on the mover test information, set the arrangement order information of the position points;

[0301] Based on the mover test information, set the function information of the position point, and the function information of the position point is determined according to the type of the test reference object corresponding to the test mover;

[0302] Based on the mover test information, set the motion reference information of the position point, and the motion reference information of the position point is used to control the motion state of the mover.

[0303] Thus, not only can the position information and identification information of the set position point be used to enable the position point to control the moving stroke of the mover, but also the moving path of the mover can be recorded by setting the arrangement order information of the position points, and the function implemented by the position point can be indicated by setting the function information of the position point. For example, the function information of the position point can be used to indicate one or more functions among the operation interaction function, start function, stop function, and limit function. The motion state of the mover at the position point can also be controlled by setting the motion reference information of the position point.

[0304] Exemplarily, executing S2303 may include: setting the position information of the position point based on the mover test information. Specifically, the position information can be represented by a coordinate system. When the coordinate system in which the mover is located is the same as the coordinate system in which the position point is located, the position information of the test mover can be set as the position information of the position point; or when the coordinate system in which the mover is located is different from the coordinate system in which the position point is located, after performing coordinate transformation processing on the position information of the test mover, the coordinate transformation processing result can be set as the position information of the position point. For using the same coordinate system or different coordinate systems to set the position information of the position point, please refer to the relevant part of the embodiment of the host computer setting the position point for details, which will not be elaborated here.

[0305] Thus, using the same coordinate system to represent the position information of the test mover and the position information of the position point can improve the execution efficiency of the host computer. Using different coordinate systems to represent the position information of the test mover and the position information of the position point can establish a coordinate system according to actual needs, which can improve the flexibility of setting the position information of the position point.

[0306] Exemplarily, executing S2303 may include: setting the position information of the position point based on the mover test information; and setting the identification information of the position point based on the mover test information. For details, please refer to the relevant part of the embodiment of the host computer setting the position point, which will not be elaborated here.

[0307] Exemplarily, executing S2303 may include: setting the position information of the position point based on the mover test information; and setting the arrangement order information of the position points based on the mover test information. For details, please refer to the relevant part of the embodiment of the host computer setting the position point, which will not be elaborated here.

[0308] Exemplarily, executing S2303 may include: setting the position information of the position point based on the mover test information; and setting the motion reference information of the position point. The motion reference information of the position point is used to control the motion state of the mover. For details, please refer to the relevant part of the embodiment of the host computer setting the position point, which will not be elaborated here.

[0309] Thus, by setting the motion reference information of the position point to record the motion state of the mover when reaching certain position points, it is convenient to accurately control the motion state of the mover at certain position points in the operation scenario of the linear motor device. For example, in the conveying scenario, the motion state of each mover at the position point can be accurately controlled according to the conveying requirements to improve the conveying efficiency.

[0310] Exemplarily, executing S2303 may include: setting the position information of the position point based on the mover test information; and setting the function information of the position point based on the mover test information. For details, please refer to the relevant part of the embodiment of the host computer setting the position point, which will not be elaborated here.

[0311] Thus, by setting the position point function information to record the functions achievable at certain position points, it is convenient to control or adjust the moving stroke of the mover according to the functions achieved at the position points when controlling the mover to reach these position points, so as to improve the convenience and efficiency of mover movement control.

[0312] Exemplarily, executing S2303 may include: setting the position point location information based on the mover test information; setting the position point identification information based on the mover test information; and setting the position point arrangement order information based on the mover test information.

[0313] Exemplarily, executing S2303 may include: setting the position point location information based on the mover test information; setting the position point identification information based on the mover test information; and setting the position point motion reference information based on the mover test information, where the position point motion reference information is used to control the motion state of the mover.

[0314] Exemplarily, executing S2303 may include: setting the position point location information based on the mover test information; setting the position point identification information based on the mover test information; and setting the position point function information based on the mover test information.

[0315] Exemplarily, executing S2303 may include: setting the position point location information based on the mover test information; setting the position point arrangement order information based on the mover test information; setting the position point motion reference information based on the mover test information, where the position point motion reference information is used to control the motion state of the mover.

[0316] Exemplarily, executing S2303 may include: setting the position point location information based on the mover test information; setting the position point arrangement order information based on the mover test information; and setting the position point function information based on the mover test information.

[0317] Exemplarily, executing S2303 may include: setting the position point location information based on the mover test information; setting the position point identification information based on the mover test information; setting the position point arrangement order information based on the mover test information; setting the position point function information based on the mover test information; and setting the position point motion reference information based on the mover test information, where the position point motion reference information is used to control the motion state of the mover.

[0318] Optionally, in addition to the position point configuration parameters set above, the attachment point information associated with the position point can also be set. Specifically, the method for setting the attachment point information is as follows: Based on the position point, combined with the preset position offset information, the attachment point information associated with the position point is set. Among them, the attachment point information may include, but is not limited to, the position information of the attachment points associated with the position point, the attachment point identification information of the attachment points associated with the position point, the attachment point arrangement order information of the attachment points associated with the position point, and the attachment point function information of the attachment points associated with the position point. Among them, the attachment points associated with the position point can be understood as the attachment points that depend on the position point. The attachment point function information can be the same as the position point function information of the position point associated with the attachment point. When the position point no longer exists, the attachment points associated with the position point also no longer exist. For example, when a certain position point is deleted, the attachment points that depend on that position point are also deleted together. For a certain position point, there can be one or more attachment points that depend on that position point. Regarding the understanding of the attachment points, if a certain position point is a position point used as a stop point, that is, the position point is used to implement the stop function, then the attachment points associated with that position point are also all used to implement the stop function. When multiple movers need to dock at that position point within the same time period, these movers can dock at the multiple attachment points associated with that position point one by one.

[0319] Thus, by setting the attachment point information associated with the position point to record the attachment points with the same implementation function as the position point, it is convenient to have one or more attachment points with the same function available when the position points with a certain function are not enough in a specific operation scenario, improving the convenience of controlling the moving stroke of the mover.

[0320] Optionally, after setting the position point configuration parameters (including position point position information, position point identification information, position point function information, position point arrangement order information, position point movement reference information) and the attachment point information, a position point configuration table can also be generated based on the position point position information, position point identification information, position point function information, position point arrangement order information, position point movement reference information, and attachment point information. The position point configuration table stores the mapping relationship between the position point identification information of each position point and the position point position information, position point function information, position point arrangement order information, position point movement reference information, and attachment point information corresponding to each position point. Thus, by generating the position point configuration table, the position point configuration parameters of each position point can be quickly queried.

[0321] In the configuration method of the linear motor device provided in the embodiments of the present application, multiple implementation manners for determining a test mover are provided. In actual application, the implementation manner for determining the test mover can be flexibly selected. After that, after determining that the test mover moves to the position corresponding to the test reference object, the mover test information corresponding to the test mover can be obtained, and / or after determining that the stationary duration of the test mover reaches a preset duration threshold, the mover test information corresponding to the test mover can be obtained. Thus, when the mover is in a stable state, the mover test information can be accurately obtained. Then, according to the mover test information, the position point configuration parameters of the position point can be set, including the position point position information, the position point identification information, the position point arrangement order information, the position point function information, and the position point motion reference information. Each type of information can be used to control the moving stroke of the mover, including controlling the position, motion state, start, stop, etc. of the mover. Therefore, the position point can be flexibly set according to the mover test information, and since the mover test information is obtained based on the test mover, the set position point can represent the position that the mover can reach along the stator line body, and the moving stroke of the mover can be controlled by using the position point, thereby realizing the automatic control of the moving stroke of the mover, improving the convenience and efficiency of the mover movement control, ensuring the accuracy of the moving stroke of the mover, avoiding the adverse effects caused by manually controlling the moving stroke of the mover, and improving the conveying efficiency of the linear motor.

[0322] Please refer to Figure 24 , which is a schematic flowchart of a control method for a linear motor device provided in the embodiments of the present application. The execution subject of this method is the linear motor device, and the linear motor device includes a stator line body and at least one mover. The linear motor device can control the mover to move along the stator line body. Specifically, this method may include the following steps:

[0323] S2401, select a target position point from multiple position points.

[0324] Among them, the position point is set based on the mover test information corresponding to the test mover. The position point is set in the configuration scenario of the linear motor device. For the specific method of setting the position point, please refer to the relevant description in the configuration method of the linear motor device.

[0325] In the embodiments of the present application, the target position point can be selected from multiple position points based on the user input operation. The user input operation includes the target position point selected by the user; or, the target position point can be selected from multiple position points according to a preset position point selection method; or, according to the position point arrangement order information, the position points are sequentially selected as the target position points.

[0326] S2402, control the moving stroke of the mover based on the target position point.

[0327] It can be understood that the target position points selected at different times can be the same or different; the movers corresponding to the target position points at different times can be the same or different; for the same target position point, the control device can control one or more movers to sequentially pass through the target position point along the stator line body; for the same mover, the control device can control the mover to sequentially pass through different target position points along the stator line body. For example, when two target position points are selected, the first selected target position point is the position point used as the operation point, and the second selected target position point is the position point used as the stop point, a certain mover can be controlled to first reach the first target position point so that the operation device corresponding to the operation point can perform an interactive operation on the mover. After the interactive operation is completed, the mover is then controlled to reach the second target position point so that the mover stops at the target position point after completing the moving stroke.

[0328] As can be seen from the method of setting position points described in the relevant part, when setting position points, position point configuration parameters are set for the position points, including position point position information, position point identification information, position point function information, position point arrangement order information, position point movement reference information, and also including attachment point information. Taking the position point position information as an example, controlling the moving stroke of the mover based on the target position point can be understood as controlling the mover to move to the position indicated by the position point position information of the target position point. Taking the position point position information and the position point function information as an example, controlling the moving stroke of the mover based on the target position point can be understood as controlling the mover to move to the position indicated by the target point position information and then controlling the mover to be in the mover state indicated by the function according to the function indicated by the position point function information. Taking the position point position information and the position point arrangement order information as an example, controlling the moving stroke of the mover based on the target position point can be understood as controlling the order in which the mover reaches the position indicated by the position point position information according to the position point arrangement order information.

[0329] In the embodiments of the present application, the target mover can be determined according to the user input operation, and the moving stroke of the target mover can be controlled based on the target position point. Or, a specified mover can be used as the target mover, and the moving stroke of the target mover can be controlled based on the target position point. Or, the target mover can be determined according to the target position point, and the moving stroke of the target mover can be controlled based on the target position point.

[0330] In the control method of the linear motor device provided in the embodiments of the present application, a target position point is selected from multiple position points. The position points are set based on the mover test information corresponding to the test mover, and the moving stroke of the mover is controlled based on the target position point. Since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information. And since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach along the stator line. The target position point selected from the position points can guide the mover to move along the stator line to a target position that meets the stroke requirement, thereby realizing the automatic control of the mover's moving stroke, improving the convenience and efficiency of the mover's movement control, ensuring the accuracy of the mover's moving stroke, avoiding the adverse effects caused by manual control of the mover's moving stroke, and improving the conveying efficiency of the linear motor.

[0331] Please refer to Figure 25 , which is a schematic flowchart of a control method for a linear motor device provided in the embodiments of the present application. The execution subject of this method is the linear motor device, which includes a stator line and at least one mover, and the linear motor device can control the mover to move along the stator line. Specifically, this method may include the following steps:

[0332] S2501, Select a target position point from multiple position points based on a preset position point selection method.

[0333] Among them, the position points are set based on the mover test information corresponding to the test mover. The position points are set in the configuration scenario of the linear motor device. For the specific method of setting the position points, please refer to the relevant description in the configuration method of the linear motor device.

[0334] In some embodiments, the preset position point selection method may be a cyclic selection method. The target position point selected by the cyclic selection method can provide the moving stroke of the return path for the mover, and can also provide the moving stroke of the circumferential path for the mover. Specifically, for the method of selecting the target position point by the cyclic selection method, please refer to the relevant part description, which will not be elaborated here.

[0335] Thus, by selecting the target position point through the preset position point selection method, the preset position point selection method can be flexibly configured according to the actual usage scenario, so that the target position point that meets the stroke requirement can be flexibly selected.

[0336] S2502, Determine the target mover based on the target position point, and control the moving stroke of the target mover based on the target position point.

[0337] In certain implementation manners, when executing S2502, it may be: obtain the position point configuration parameters corresponding to the target position point, determine the target mover based on the position point configuration parameters, and control the moving stroke of the target mover.

[0338] Among them, the position point configuration parameters include at least one of position point position information, position point identification information, position point arrangement order information, position point function information, position point movement reference information, and attachment point information.

[0339] Specifically, determining the target mover based on the position point configuration parameters can be: determining the repeated position points and the repetition times of the repeated position points based on the position point configuration parameters, and determining the target mover based on the repeated position points and the repetition times of the repeated position points. The movement path recorded by the target position point can be judged through the repeated position points and the repetition times of the repeated position points. Different movement paths can apply different movers for movement. Therefore, the target mover can be determined through the movement path. For example, by identifying the position point configuration parameters and confirming that there are no repeated position points and the repetition times are also 0, it can be determined that the movement path recorded by the target position point indicated by the position guiding instruction is a one-way path, and a mover suitable for the one-way path can be selected from the movers assembled on the stator line as the target mover. Another example is that by identifying the position point configuration parameters and confirming that all the target position points indicated by the position guiding instruction are repeated position points, and the repetition times of each repeated position point are the same and greater than 1, it can be determined that the movement path recorded by the target position point indicated by the position guiding instruction is a back-and-forth path, and a mover suitable for the back-and-forth path can be selected from the movers assembled on the stator line as the target mover. Thus, the movement path recorded by the target position point can be determined according to the position point configuration parameters, and the target mover can be flexibly selected according to the movement path.

[0340] It can be understood that the position point configuration parameters include position point position information, position point identification information, position point function information, position point arrangement order information, position point movement reference information, and also include attachment point information. Taking the position point position information as an example, controlling the movement stroke of the target mover based on the position point configuration parameters can be understood as controlling the target mover to move to the position indicated by the position point position information of the target position point. Taking the position point position information and the position point function information as an example, controlling the movement stroke of the target mover based on the position point configuration parameters can be understood as controlling the target mover to move to the position indicated by the target point position information, and then controlling the target mover to be in the mover state indicated by the function according to the function indicated by the position point function information. Taking the position point position information and the position point arrangement order information as an example, controlling the movement stroke of the target mover based on the position point configuration parameters can be understood as controlling the order in which the target mover reaches the position indicated by the position point position information according to the position point arrangement order information. Taking the position point position information and the position point movement reference information as an example, controlling the movement stroke of the target mover based on the position point configuration parameters can be understood as controlling the target mover to move to the position indicated by the target position point, and moreover, controlling the movement state when moving to the position indicated by the target position point according to the position point movement reference information. Taking the attachment point information as an example, controlling the movement stroke of the target mover based on the position point configuration parameters can be understood as controlling the target mover to move to the position where the attachment point associated with the target position point is located.

[0341] In some other embodiments, executing S2502 may be: obtaining the position point configuration parameters corresponding to the target position point and the guiding object information corresponding to the target position point, and controlling the movement stroke of the target mover corresponding to the guiding object information based on the position point configuration parameters. Among them, the guiding object information is used to indicate the target mover or the judgment method of the target mover, and the guiding object information can be pre-configured according to the target position point. For example, the guiding object information corresponding to the target position point can be configured according to the position point function information, position point movement reference information, and attachment point information of the target position point. For example, according to the function that the target position point can achieve indicated by the position point function information, such as at least one of the operation interaction function, start function, stop function, and limit function, the target mover can be selected or the judgment method of the target mover can be determined, and then the guiding object information is generated based on the selected target mover or the determined judgment method of the target mover, and the corresponding relationship between the guiding object information and the target position point is stored. For another example, according to the number of attachment points in the attachment point information, a specified number of target movers can be determined, and then the guiding object information is generated based on the specified number of target movers, and the corresponding relationship between the guiding object information and the target position point is stored. Thus, through the pre-set guiding object information, the target mover can be quickly determined, thereby improving the execution efficiency of the linear motor.

[0342] Specifically, for the implementation method of controlling the moving stroke of the target mover based on the position point configuration parameters, reference can be made to the relevant part of the description, which will not be elaborated here.

[0343] In the control method of the linear motor device provided in the embodiment of the present application, the target position point can be determined through a preset position point selection method. Therefore, the preset position point selection method can be flexibly configured according to the actual usage scenario, so that the target position point that meets the stroke requirements can be flexibly selected; then, based on the target position point, the target mover is determined, and the moving stroke of the target mover is controlled based on the target position point. On the one hand

[0344] the moving path recorded by the target position point can be determined according to the position point configuration parameters, so that the target mover can be flexibly selected according to the moving path. On the other hand, through the preset guiding object information, the target mover can be quickly determined, thereby improving the execution efficiency of the linear motor. Since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information. And since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach along the stator line. The target position point selected from the position points can guide the mover to move along the stator line to a target position that meets the stroke requirements, thereby realizing the automatic control of the mover's moving stroke, improving the convenience and efficiency of the mover's movement control, and ensuring the accuracy of the mover's moving stroke, avoiding the adverse effects caused by manual control of the mover's moving stroke, and improving the conveying efficiency of the linear motor.

[0345] Please refer to Figure 26 , which is a schematic flowchart of a control method for a linear motor device provided in an embodiment of the present application. The execution subject of this method is the linear motor device, which includes a stator line and at least one mover, and the linear motor device can control the mover to move along the stator line. Specifically, this method may include the following steps:

[0346] S2601, Based on the position point arrangement order information, sequentially select the position points as the target position points.

[0347] Among them, the position points are set based on the mover test information corresponding to the test mover. The position points are set in the configuration scenario of the linear motor device. For the specific method of setting the position points, reference can be made to the relevant description in the configuration method of the linear motor device.

[0348] It can be understood that in the method of setting position points, the position point arrangement order information set for a position point refers to the information used to represent the arrangement order of a certain position point among multiple position points. The position point arrangement order information is set through the acquisition order of mover test information, and the position point arrangement order information is used to record the movement path of the test mover. Therefore, when executing S2601, multiple position points with position point arrangement order information can be determined, and then the order value in the position point arrangement order information can be determined. According to the order from small to large of the order value, the position points are sequentially selected as target position points.

[0349] Thus, selecting target position points according to the position point arrangement order information can simplify the logic code for selecting target position points, thereby improving the execution efficiency of the linear motor device.

[0350] S2602, determine a target mover based on the target position point, and control the movement stroke of the target mover based on the target position point.

[0351] Specifically, the implementation manner of S2602 can refer to the relevant part description and will not be elaborated here.

[0352] In the control method of the linear motor device provided in the embodiments of the present application, target position points can be selected according to the position point arrangement order information. Therefore, the logic code for selecting target position points can be simplified, thereby improving the execution efficiency of the linear motor device; then, a target mover is determined based on the target position point, and the movement stroke of the target mover is controlled based on the target position point. Since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information. And since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach along the stator line. The target position points selected from the position points can guide the mover to move along the stator line to a target position that meets the stroke requirement, thereby realizing the automatic control of the mover movement stroke, improving the convenience and efficiency of the mover movement control, and ensuring the accuracy of the mover movement stroke, avoiding the adverse effects caused by manual control of the mover movement stroke, and improving the conveying efficiency of the linear motor.

[0353] The embodiments of the present application also provide a product corresponding to the above method. The following will be introduced in detail with reference to the accompanying drawings through specific embodiments. It should be noted that the product described below may include functional modules and / or physical hardware required for implementing the method provided in the embodiments of the present invention; the content described below about the product can be correspondingly referred to the content of the method described above.

[0354] The following will be combined with Figure 27 , and the configuration device of the linear motor device provided in the embodiments of the present application will be introduced in detail. It should be noted that Figure 27The configuration device of the linear motor device shown can be considered as a functional module required for setting up to execute the method of the present application Figures 1 - 10 shown in the embodiments, and this functional module can be implemented by one or a combination of analog circuits, digital circuits, integrated circuits, and processing chips. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For those specific technical details not disclosed, please refer to the embodiments Figures 1 - 10 shown in the present application.

[0355] Please refer to Figure 27 , which shows a schematic structural diagram of the configuration device of the linear motor device in the embodiments of the present application. The configuration device 1 of the linear motor device can be implemented as all or part of the device through software, hardware, or a combination of both. According to some embodiments, the configuration device 1 of the linear motor device includes an instruction sending module 11, an information receiving module 12, and a position setting module 13, and is specifically used for:

[0356] The instruction sending module 11 is used to send a position test instruction to the control device;

[0357] The information receiving module 12 is used to receive the mover test information sent by the control device based on the position test instruction, and the mover test information is obtained based on testing the mover;

[0358] The position setting module 13 is used to set a position point based on the mover test information, where the position point corresponds to the stator wire body, and the position point is used to control the moving stroke of the mover.

[0359] Optionally, the configuration device 1 of the linear motor device is further used for:

[0360] Generating a position test instruction based on test identification information; wherein the test identification information is determined according to a mover within a preset distance range of the test reference object, or the test identification information is specified from the identification information of the mover.

[0361] Optionally, the configuration device 1 of the linear motor device is further used for:

[0362] Determining that the test mover moves to the position corresponding to the test reference object; and / or,

[0363] Determining that the stationary duration of the test mover reaches a preset duration threshold.

[0364] Optionally, the position setting module 13 specifically includes at least one of the following:

[0365] A position setting unit for setting position point position information based on the mover test information;

[0366] An identification setting unit, configured to set position point identification information based on the mover test information;

[0367] A function setting unit, configured to set position point function information based on the mover test information, where the position point function information is determined according to the type of test reference object corresponding to the test mover;

[0368] An arrangement order setting unit, configured to set position point arrangement order information based on the mover test information;

[0369] A motion parameter setting unit, configured to set position point motion reference information based on the mover test information, where the position point motion reference information is used to control the motion state of the mover.

[0370] Optionally, a position setting unit, configured to:

[0371] Determine the position information of the test mover based on the mover test information, and set the position information of the test mover as the position point position information; or,

[0372] Determine the position information of the test mover based on the mover test information, and perform coordinate transformation processing on the position information of the test mover and then set it as the position point position information.

[0373] Optionally, the arrangement order setting unit is configured to:

[0374] Set the position point arrangement order information based on the acquisition order of the mover test information, so as to record the movement path of the test mover through the position point arrangement order information.

[0375] Optionally, the position setting module 13 is further configured to:

[0376] Based on the position point, in combination with the preset position offset information, set the attached point information associated with the position point.

[0377] In the configuration device of the linear motor device provided in the embodiments of the present application, the host computer sends a position test instruction to the control device to receive the mover test information of the test mover sent by the control device based on the position test instruction, and then sets a position point corresponding to the stator line based on the mover test information, so that the position point is used to control the movement stroke of the mover. Thus, the position point can be flexibly set through the obtained mover test information, and since the mover test information is obtained based on the test mover, the set position point can represent the positions that the mover can reach along the stator line. The movement stroke of the mover can be controlled by using the position point, thereby realizing the automatic control of the movement stroke of the mover, improving the convenience and efficiency of the mover movement control, ensuring the accuracy of the mover movement stroke, avoiding the adverse effects caused by manually controlling the mover movement stroke, and improving the conveying efficiency of the linear motor.

[0378] The following will be combined with Figure 28 to introduce in detail the configuration device of the linear motor device provided in the embodiments of the present application. It should be noted that Figure 28 the configuration device of the linear motor device shown can be regarded as a functional module required to execute the method of the embodiments of the present application Figures 11 - 12 shown. This functional module can be implemented by one or a combination of analog circuits, digital circuits, integrated circuits, and processing chips. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For those specific technical details not disclosed, please refer to the embodiments of the present application Figures 11 - 12 shown.

[0379] Please refer to Figure 28 , which shows a schematic structural diagram of the configuration device of the linear motor device in the embodiments of the present application. The configuration device 2 of the linear motor device can be implemented as all or part of the device through software, hardware, or a combination of both. According to some embodiments, the configuration device 2 of the linear motor device includes an instruction receiving module 21, an information acquisition module 22, and an information sending module 23, which are specifically used for:

[0380] The instruction receiving module 21 is used to receive the position test instruction sent by the host computer;

[0381] The information acquisition module 22 is used to acquire the mover test information corresponding to the test mover based on the position test instruction;

[0382] The information sending module 23 is used to send the mover test information to the host computer so that the host computer sets a position point based on the mover test information, where the position point corresponds to the stator wire body and is used to control the moving stroke of the mover.

[0383] Optionally, the configuration device 2 of the linear motor device is further used for:

[0384] determining a test mover; wherein, the test mover is a mover within a preset distance range of the test reference object, or the test mover is a mover specified by an input operation or the position test instruction.

[0385] Optionally, the information acquisition module 22 includes at least one of the following:

[0386] The first information acquisition unit is used to determine the mover test information corresponding to the test mover after the test mover moves to the position corresponding to the test reference object based on the position test instruction;

[0387] A second information acquisition unit, configured to, based on the position test instruction, after determining that the stationary duration of the test mover reaches a preset duration threshold, acquire the mover test information corresponding to the test mover.

[0388] Optionally, the first information acquisition unit or the second information acquisition unit is specifically configured to at least one of:

[0389] Acquire the position information of the test mover;

[0390] Acquire the mover identification information of the test mover;

[0391] Acquire the allocated order information, where the order information is used to characterize the acquisition order of the mover test information.

[0392] In the configuration device of the linear motor device provided in the embodiments of the present application, the control device receives the position test instruction sent by the host computer to acquire the mover test information corresponding to the test mover, and then sends the mover test information to the host computer, so that the host computer can set the position point according to the mover test information. Thus, the host computer can flexibly set the position point according to the mover test information sent by the control device, and since the mover test information is obtained based on the test mover, the set position point can represent the position that the mover can reach by moving along the stator line body, and the moving stroke of the mover can be controlled by using the position point, thereby realizing the automatic control of the moving stroke of the mover, improving the convenience and efficiency of the moving control of the mover, and ensuring the accuracy of the moving stroke of the mover, avoiding the adverse effects caused by manually controlling the moving stroke of the mover, and improving the conveying efficiency of the linear motor.

[0393] Next, in conjunction with Figure 29 , the control device of the linear motor device provided in the embodiments of the present application will be introduced in detail. It should be noted that Figure 29 the control device of the linear motor device shown can be considered as a functional module required to implement the method of the embodiments of the present application Figures 13 - 18 shown, and this functional module can be implemented by a combination of one or more of analog circuits, digital circuits, integrated circuits, and processing chips. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For the specific technical details not disclosed, please refer to the embodiments of the present application Figures 13 - 18 shown.

[0394] Please refer to Figure 29 , which shows a schematic structural diagram of the control device of the linear motor device in the embodiments of the present application. The control device 3 of the linear motor device can be implemented as all or part of the device through software, hardware, or a combination of both. According to some embodiments, the control device 3 of the linear motor device includes an instruction generation module 31 and an instruction sending module 32, and is specifically configured to:

[0395] The instruction generation module 31 is configured to generate a position guidance instruction based on a target position point, where the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover, and the mover test information is obtained by the control device based on the position test instruction sent by the host computer and then sent to the host computer;

[0396] The instruction sending module 32 is configured to send the position guidance instruction to the control device, and the position guidance instruction is used to instruct the control device to control the moving stroke of the mover based on the target position point.

[0397] Optionally, the control device 3 of the linear motor device is further configured to:

[0398] Determine the target position point based on a preset position point selection method.

[0399] Optionally, the instruction generation module 31 includes at least one of the following:

[0400] The first instruction determination unit is configured to obtain the position point configuration parameters corresponding to the target position point and generate a position guidance instruction based on the position point configuration parameters, where the position point configuration parameters include at least one of the following information: position point location information, position point identification information, position point arrangement order information, position point motion reference information, and accessory point information;

[0401] The second instruction determination unit is configured to obtain the position point configuration parameters corresponding to the target position point and the guidance object information corresponding to the target position point, and generate a position guidance instruction based on the position point configuration parameters and the guidance object information, where the guidance object information is used to indicate the target mover or the judgment method of the target mover.

[0402] Optionally, the control device 3 of the linear motor device is further configured to:

[0403] Select the position points as the target position points in sequence based on the position point arrangement order information.

[0404] In the control device of the linear motor equipment provided in the embodiments of the present application, a position guidance instruction is generated from the target position points selected from the position points set by the host computer based on the mover test information corresponding to the test mover, and the position guidance instruction is sent to the control device, so that the control device can control the moving stroke of the mover based on the target position points. Since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information. And since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach along the stator line. The target position points selected from the position points can guide the mover to move along the stator line to the target position that meets the stroke requirements, thereby realizing the automatic control of the mover's moving stroke, improving the convenience and efficiency of the mover's movement control, and ensuring the accuracy of the mover's moving stroke, thus avoiding the adverse effects caused by manual control of the mover's moving stroke and improving the conveying efficiency of the linear motor.

[0405] Next, in conjunction with Figure 30 , the control device of the linear motor equipment provided in the embodiments of the present application will be introduced in detail. It should be noted that Figure 30 The control device of the linear motor equipment shown can be considered as a functional module required to execute the method of the embodiments of the present application Figures 19 - 21 shown. This functional module can be implemented by one or a combination of analog circuits, digital circuits, integrated circuits, and processing chips. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For the specific technical details not disclosed, please refer to the embodiments of the present application Figures 19 - 21 shown.

[0406] Please refer to Figure 30 , which shows the structural schematic diagram of the control device of the linear motor equipment in the embodiments of the present application. The control device 4 of the linear motor equipment can be implemented as all or part of the device through software, hardware, or a combination of both. According to some embodiments, the control device 4 of the linear motor equipment includes an instruction receiving module 41 and a mover control module 42, and specifically is used for:

[0407] The instruction receiving module 41 is used to receive the position guidance instruction sent by the host computer, where the position guidance instruction is generated by the host computer based on the target position points, and the target position points are selected from the position points set by the host computer based on the mover test information corresponding to the test mover, and the mover test information is obtained by the control device based on the position test instruction sent by the host computer and sent to the host computer;

[0408] The mover control module 42 is used to control the moving stroke of the mover to correspond to the target position point based on the position guidance instruction.

[0409] Optionally, the mover control module 42 specifically includes at least one of the following:

[0410] A first control unit, configured to determine a target mover based on a target position point indicated by the position guiding instruction, and control a moving stroke of the target mover based on the target position point;

[0411] A second control unit, configured to control a moving stroke of the target mover to correspond to the target position point based on the target position point and the target mover indicated by the position guiding instruction;

[0412] A third control unit, configured to determine a target position point from the position points based on the position guiding instruction, and determine a target mover and control a moving stroke of the target mover based on the target position point.

[0413] Optionally, the first control unit is specifically configured to:

[0414] Obtain position point configuration parameters corresponding to the target position point based on the position guiding instruction, and determine a target mover and control a moving stroke of the target mover based on the position point configuration parameters, where the position point configuration parameters include at least one of the following information: position point position information, position point identification information, position point arrangement order information, position point motion reference information, and attachment point information.

[0415] Optionally, the second control unit is specifically configured to:

[0416] Determine position point configuration parameters corresponding to the target position point and guiding object information corresponding to the target position point based on the position guiding instruction, and control a moving stroke of the target mover corresponding to the guiding object information based on the position point configuration parameters, where the guiding object information is used to indicate the target mover or a judgment method of the target mover.

[0417] In the control device of the linear motor device provided in the embodiments of the present application, the control device receives a position guiding instruction from a host computer, and then controls a moving stroke of the mover to correspond to a target position point through the position guiding instruction. Since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information, and since the mover test information is obtained based on a test mover, the set position points can represent the positions that the mover can reach along the stator line body, and the target position points selected from the position points can guide the mover to move along the stator line body to a target position that meets the stroke requirement, thereby realizing automatic control of the mover moving stroke, improving the convenience and efficiency of mover movement control, and being able to ensure the accuracy of the mover moving stroke, avoiding the adverse effects caused by manual control of the mover moving stroke, and improving the conveying efficiency of the linear motor.

[0418] Next, it will be combined withFigure 31 This section provides a detailed introduction to the configuration device of the linear motor equipment provided in the embodiments of this application. It should be noted that Figure 31 The configuration device of the linear motor equipment shown can be regarded as a functional module required for implementing the method of the embodiments of this application Figures 22 - 23 This functional module can be implemented through one or a combination of analog circuits, digital circuits, integrated circuits, and processing chips. For the sake of convenience of description, only the parts related to the embodiments of this application are shown. For the specific technical details not disclosed, please refer to the embodiments of this application Figures 22 - 23 shown.

[0419] Please refer to Figure 31 , which shows the structural schematic diagram of the configuration device of the linear motor equipment in the embodiments of this application. The configuration device 5 of the linear motor equipment can be implemented as all or part of the device through software, hardware, or a combination of both. According to some embodiments, the configuration device 5 of the linear motor equipment includes an information acquisition module 51 and a position setting module 52, and specifically is used for:

[0420] The information acquisition module 51 is used to acquire mover test information, and the mover test information is obtained based on a test mover;

[0421] The position setting module 52 is used to set a position point based on the mover test information, wherein the position point corresponds to the stator wire body, and the position point is used to control the moving stroke of the mover.

[0422] Optionally, the configuration device 5 of the linear motor equipment is further used for:

[0423] Determine a test mover; wherein, the test mover is a mover within a preset distance range of a test reference object, or the test mover is specified from the movers.

[0424] Optionally, the configuration device 5 of the linear motor equipment is further used for:

[0425] Determine that the test mover moves to the position corresponding to the test reference object; and / or,

[0426] Determine that the stationary duration of the test mover reaches a preset duration threshold.

[0427] Optionally, the information acquisition module 51 is specifically used for at least one of the following:

[0428] Acquire the position information of the test mover;

[0429] Acquire the mover identification information of the test mover;

[0430] Acquire the allocated order information, and the order information is used to represent the acquisition order of the mover test information.

[0431] Optionally, the position setting module 52 includes at least one of the following:

[0432] A position setting unit for setting the position information of the position point based on the mover test information;

[0433] An identification setting unit for setting the identification information of the position point based on the mover test information;

[0434] A function setting unit for setting the function information of the position point based on the mover test information, where the function information of the position point is based on the type of the test reference object corresponding to the test mover;

[0435] An arrangement order setting unit for setting the arrangement order information of the position points based on the mover test information;

[0436] A motion parameter setting unit for setting the motion reference information of the position point based on the mover test information, where the motion reference information of the position point is used to control the motion state of the mover.

[0437] Optionally, the position setting unit is used for:

[0438] Determining the position information of the test mover based on the mover test information and setting the position information of the test mover as the position information of the position point; or,

[0439] Determining the position information of the test mover based on the mover test information, performing coordinate transformation processing on the position information of the test mover, and then setting it as the position information of the position point.

[0440] Optionally, the arrangement order setting unit is used for:

[0441] Setting the arrangement order information of the position points based on the acquisition order of the mover test information, so as to record the movement path of the test mover through the arrangement order information of the position points.

[0442] Optionally, the position setting module 52 is further used for:

[0443] Based on the position point, combining the preset position offset information to set the attached point information associated with the position point.

[0444] In the configuration device of the linear motor equipment provided in the embodiment of the present application, by obtaining the mover test information, the position points are set based on the mover test information. Thus, the position points can be flexibly set through the obtained mover test information, and since the mover test information is obtained based on testing the mover, the set position points can represent the positions that the mover can reach by moving along the stator line. The moving stroke of the mover can be controlled by using the position points, thereby realizing the automatic control of the moving stroke of the mover, improving the convenience and efficiency of the mover movement control, ensuring the accuracy of the mover moving stroke, avoiding the adverse effects caused by manually controlling the mover moving stroke, and improving the conveying efficiency of the linear motor.

[0445] The following will be combined with Figure 32 , and a detailed introduction will be given to the control device of the linear motor equipment provided in the embodiment of the present application. It should be noted that Figure 32 The control device of the linear motor equipment shown can be considered as a functional module required to implement the method of the embodiment of the present application Figures 24 - 26 shown. This functional module can be implemented by one or a combination of analog circuits, digital circuits, integrated circuits, and processing chips. For the sake of convenience of description, only the parts related to the embodiment of the present application are shown. For the specific technical details not disclosed, please refer to the embodiment Figures 24 - 26 shown in the present application.

[0446] Please refer to Figure 32 , which shows the structural schematic diagram of the control device of the linear motor equipment in the embodiment of the present application. The control device 6 of the linear motor equipment can be implemented as all or part of the device through software, hardware, or a combination of both. According to some embodiments, the control device 6 of the linear motor equipment includes a position selection module 61 and a mover control module 62, and specifically is used for:

[0447] The position selection module 61 is used to select a target position point from multiple position points, and the position points are set based on the mover test information corresponding to the test mover;

[0448] The mover control module 62 is used to control the moving stroke of the mover based on the position point.

[0449] Optionally, the position selection module 61 is specifically used for:

[0450] Selecting a target position point from multiple position points based on a preset position point selection method.

[0451] Optionally, the position selection module 62 is specifically used for:

[0452] Sequentially selecting the position points as the target position points based on the position point arrangement sequence information.

[0453] Optionally, the mover control module 62 includes:

[0454] A mover control unit is configured to determine a target mover based on the target position point and control the moving stroke of the target mover based on the target position point.

[0455] Optionally, the mover control unit is specifically configured to:

[0456] Obtain the position point configuration parameters corresponding to the target position point, determine the target mover based on the position point configuration parameters, and control the moving stroke of the target mover, where the position point configuration parameters include at least one of the following information: position point representation, position point arrangement order, position point motion reference information, and accessory information; or,

[0457] Obtain the position point configuration parameters corresponding to the target position point and the guiding object information corresponding to the target position point, and control the moving stroke of the target mover corresponding to the guiding object information based on the position point configuration parameters, where the guiding object information is used to indicate the target mover or the judgment method of the target mover.

[0458] In the control device of the linear motor device provided in the embodiments of the present application, a target position point is selected from multiple position points. The position points are set based on the mover test information corresponding to the test mover, and the moving stroke of the mover is controlled based on the target position point. Since the position points are set according to the mover test information, the position points can be flexibly set according to the actual situation of the mover test information. And since the mover test information is obtained based on the test mover, the set position points can represent the positions that the mover can reach along the stator line. The target position point selected from the position points can guide the mover to move along the stator line to a target position that meets the stroke requirement, thereby realizing the automatic control of the moving stroke of the mover, improving the convenience and efficiency of the moving control of the mover, and being able to ensure the accuracy of the moving stroke of the mover, avoiding the adverse effects caused by manually controlling the moving stroke of the mover, and improving the conveying efficiency of the linear motor.

[0459] The embodiments of the present application further provide an electronic device, including: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the method of the linear motor device in any of the above embodiments.

[0460] Please refer to Figure 33 , which is a structural block diagram of an electronic device provided in the embodiments of this specification. The electronic device in this specification may include one or more of the following components: a processor 110, a memory 120, an input device 130, an output device 140, and a bus 150. The processor 110, the memory 120, the input device 130, and the output device 140 may be connected through the bus 150.

[0461] The processor 110 may include one or more processing cores. The processor 110 connects various parts within the entire electronic device using various interfaces and circuits. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 120, and by invoking data stored in the memory 120, it performs various functions of the terminal 100 and processes data. Optionally, the processor 110 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 110 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the displayed content; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 110 and may be implemented separately by a communication chip.

[0462] The memory 120 may include random access memory (RAM) and may also include read-only memory (ROM). Optionally, the memory 120 includes a non-transitory computer-readable storage medium. The memory 120 can be used to store instructions, programs, code, code sets, or instruction sets.

[0463] Among them, the input device 130 is used to receive input instructions or data. The input device 130 includes, but is not limited to, a keyboard, a mouse, a camera, a microphone, or a touch device. The output device 140 is used to output instructions or data. The output device 140 includes, but is not limited to, a display device and a speaker, etc. In the embodiments of this specification, the input device 130 may be a temperature sensor for obtaining the operating temperature of the electronic device. The output device 140 may be a speaker for outputting an audio signal.

[0464] In addition, those skilled in the art can understand that the structure of the electronic device shown in the above drawings does not limit the electronic device. The electronic device may include more or fewer components than shown in the drawings, or combine some components, or have different component arrangements. For example, the electronic device further includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a wireless fidelity (WIFI) module, a power supply, and a Bluetooth module, which will not be elaborated here.

[0465] In the embodiments of this specification, the execution subject of each step may be the electronic device introduced above. Optionally, the execution subject of each step is the operating system of the electronic device. The operating system may be the Android system, the IOS system, or other operating systems, and the embodiments of this specification do not limit this.

[0466] It can be understood that Figure 33 is an optional structure of the electronic device shown for ease of understanding. The specific structure of the electronic device can be designed and changed according to the actual situation, and the embodiments of this application do not specifically limit this.

[0467] In Figure 33 the electronic device, the memory 120 may store the program of any one of the configuration methods of the linear motor device and / or the program of any one of the control methods of the linear motor device described above. The processor 110 may be used to call the program of any one of the configuration methods of the linear motor device and / or the program of any one of the control methods of the linear motor device stored in the memory 120.

[0468] For example, in some embodiments, the processor 110 may be used to call the configuration method of the linear motor device stored in the memory 120 and specifically perform the following operations:

[0469] Send a position test instruction to the control device;

[0470] Receive the mover test information sent by the control device based on the position test instruction, where the mover test information is obtained based on the test mover;

[0471] Set a position point based on the mover test information, where the position point corresponds to the stator wire body and is used to control the moving stroke of the mover.

[0472] In some embodiments, the processor 110 may be used to call the configuration method of the linear motor device stored in the memory 120 and specifically perform the following operations:

[0473] Receive the position test instruction sent by the host computer;

[0474] Obtain the mover test information corresponding to the test mover based on the position test instruction;

[0475] Send the mover test information to the host computer so that the host computer sets a position point based on the mover test information, where the position point corresponds to the stator wire body and is used to control the moving stroke of the mover.

[0476] In some embodiments, the processor 110 may be used to call the configuration method of the linear motor device stored in the memory 120 and specifically perform the following operations:

[0477] Obtain mover test information, where the mover test information is obtained based on a test mover;

[0478] Set a position point based on the mover test information, where the position point corresponds to the stator wire body and is used to control the moving stroke of the mover.

[0479] In some embodiments, the processor may be used to call the control method of the linear motor device stored in the memory and specifically perform the following operations:

[0480] Generate a position guiding instruction based on a target position point, where the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover, and the mover test information is obtained by the control device based on the position test instruction sent by the host computer and sent to the host computer;

[0481] Send the position guiding instruction to the control device, where the position guiding instruction is used to instruct the control device to control the moving stroke of the mover based on the target position point.

[0482] In some embodiments, the processor 110 may be used to call the control method of the linear motor device stored in the memory 120 and specifically perform the following operations:

[0483] Receive the position guiding instruction sent by the host computer, where the position guiding instruction is generated by the host computer based on a target position point, the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover, and the mover test information is obtained by the control device based on the position test instruction sent by the host computer and sent to the host computer;

[0484] Control the moving stroke of the mover to correspond to the target position point based on the position guiding instruction.

[0485] In some embodiments, the processor 110 may be used to call the control method of the linear motor device stored in the memory 120 and specifically perform the following operations:

[0486] Select a target position point from multiple position points, where the position points are set based on mover test information corresponding to a test mover;

[0487] Control the moving stroke of the mover based on the target position point.

[0488] An embodiment of the present application also provides a computer-readable storage medium, which stores at least one instruction for being executed by a processor to implement the configuration method of the linear motor device or the control method of the linear motor device as described in the above various embodiments.

[0489] An embodiment of the present application also provides a computer program product, which stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the configuration method of the linear motor device or the control method of the linear motor device as described in the above various embodiments.

[0490] Those skilled in the art should be able to realize that in the above one or more examples, the functions described in the embodiments of the present application can be implemented by hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. The computer-readable medium includes computer storage media and communication media, where the communication media includes any medium that facilitates the transmission of a computer program from one place to another. The storage media can be any available medium accessible by a general-purpose or special-purpose computer.

[0491] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A configuration method for a linear motor device, characterized in that, The linear motor device includes a control device, a stator line body, and at least one mover. The control device is used to control the mover to move along the stator line body, and the control device is connected to a host computer; The method is applied to the host computer, and the method includes: Generating a position test instruction based on test identification information; wherein, the test identification information is determined according to a mover within a preset distance range of a test reference object, and / or, the test identification information is specified from the mover identification information of the mover; Determining that the test mover moves to the position corresponding to the test reference object, and / or determining that the stationary duration of the test mover reaches a preset duration threshold, and sending the position test instruction to the control device; Receiving the mover test information sent by the control device based on the position test instruction, where the mover test information is obtained based on the test mover; Setting position points based on the mover test information, where the position points correspond to the stator line body, and the position points are used to control the moving stroke of the mover; the setting of the position points based on the mover test information includes: setting position point position information and / or setting position point function information based on the mover test information, and / or setting position point arrangement order information based on the acquisition order of the mover test information to record the moving path of the test mover through the position point arrangement order information; the position point function information is determined according to the type of the test reference object corresponding to the test mover, and the position point function information is used to indicate one or more functions among operation interaction function, start function, stop function, and limit function; the position points are also used to select target position points, and the target position points are used to control the moving stroke of the target mover, and the target mover is determined by the repeated position points and the number of repetitions of the repeated position points, and the repeated position points and the number of repetitions of the repeated position points are determined by the position point configuration parameters corresponding to the target position points.

2. The method according to claim 1, wherein The setting of the position points based on the mover test information further includes at least one of the following: Setting position point identification information based on the mover test information; Setting position point motion reference information based on the mover test information, where the position point motion reference information is used to control the motion state of the mover.

3. The method according to claim 1, wherein The setting of the position point position information based on the mover test information includes: Determining the position information of the test mover based on the mover test information and setting the position information of the test mover as the position point position information; or, Determining the position information of the test mover based on the mover test information and performing coordinate transformation processing on the position information of the test mover and then setting it as the position point position information.

4. The method according to claim 1, wherein The method further includes: Based on the position points, combining preset position offset information, and setting the attached point information associated with the position points.

5. A configuration method for a linear motor device, characterized in that, The linear motor device includes a control device, a stator line body, and at least one mover. The control device is used to control the mover to move along the stator line body, and the control device is connected to a host computer; the method is applied to the control device, and the method includes: Receive the position test instruction sent by the host computer when it determines that the test mover has moved to the position corresponding to the test reference object, and / or receive the position test instruction sent by the host computer when it determines that the stationary duration of the test mover reaches the preset duration threshold. The position test instruction is generated by the host computer based on the test identification information. Wherein, the test identification information is determined according to the mover within the preset distance range of the test reference object, and / or the test identification information is specified from the mover identification information of the mover. Obtain the mover test information corresponding to the test mover based on the position test instruction. Send the mover test information to the host computer so that the host computer sets the position point based on the mover test information. Wherein, the position point corresponds to the stator line body, and the position point is used to control the moving stroke of the mover. The host computer setting the position point based on the mover test information includes: setting the position point position information and / or setting the position point function information based on the mover test information, and / or setting the position point arrangement order information based on the acquisition order of the mover test information to record the moving path of the test mover through the position point arrangement order information. The position point function information is determined according to the type of the test reference object corresponding to the test mover, and the position point function information is used to indicate one or more functions among the operation interaction function, start function, stop function, and limit function. The position point is also used to select the target position point, and the target position point is used to control the moving stroke of the target mover. The target mover is determined by the repeated position point and the repetition times of the repeated position point, and the repeated position point and the repetition times of the repeated position point are determined by the position point configuration parameters corresponding to the target position point.

6. The method according to claim 5, wherein Before obtaining the mover test information corresponding to the test mover based on the position test instruction, it further includes: Determine the test mover. Wherein, the test mover is the mover within the preset distance range of the test reference object, and / or the test mover is the mover specified by the input operation or the position test instruction.

7. The method according to claim 5, characterized in that Obtaining the mover test information corresponding to the test mover based on the position test instruction includes at least one of the following: Based on the position test instruction, after determining that the test mover has moved to the position corresponding to the test reference object, obtain the mover test information corresponding to the test mover. Based on the position test instruction, after determining that the stationary duration of the test mover reaches the preset duration threshold, obtain the mover test information corresponding to the test mover.

8. The method according to claim 7, wherein Obtaining the mover test information corresponding to the test mover includes at least one of the following: Obtain the position information of the test mover. Obtain the mover identification information of the test mover. Obtain the allocated order information, and the order information is used to represent the acquisition order of the mover test information.

9. A control method for a linear motor device, characterized in that, The linear motor device includes a control device, a stator line body, and at least one mover. The control device is used to control the mover to move along the stator line body, and the control device is connected to the host computer. The method is applied to the host computer, and the method includes: Generate a position guidance instruction based on a target position point, where the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover, and the mover test information is obtained by the control device based on the position test instruction sent by the host computer and sent to the host computer. The position test instruction is generated by the host computer based on the test identification information, where the test identification information is determined according to the mover within a preset distance range of the test reference object, and / or the test identification information is specified from the mover identification information of the mover; the position test instruction is sent by the host computer to the control device when the host computer determines that the test mover has moved to the position corresponding to the test reference object, and / or determines that the stationary duration of the test mover has reached a preset duration threshold; the host computer sets the position point based on the mover test information corresponding to the test mover, including: setting the position information of the position point and / or setting the function information of the position point based on the mover test information, and / or setting the arrangement order information of the position points based on the acquisition order of the mover test information, so as to record the movement path of the test mover through the arrangement order information of the position points; the function information of the position point is determined according to the type of the test reference object corresponding to the test mover, and the function information of the position point is used to indicate one or more functions among the operation interaction function, the start function, the stop function, and the limit function; Send the position guidance instruction to the control device, and the position guidance instruction is used to instruct the control device to control the movement stroke of the mover based on the target position point; the target position point is also used to control the movement stroke of the target mover, and the target mover is determined by the repeated position point and the repetition times of the repeated position point, and the repeated position point and the repetition times of the repeated position point are determined by the position point configuration parameters corresponding to the target position point.

10. The method according to claim 9, wherein Before generating the position guidance instruction based on the target position point, it further includes: Determine the target position point based on a preset position point selection method.

11. The method according to claim 9, characterized in that, Generating the position guidance instruction based on the target position point includes at least one of the following: Obtain the position point configuration parameters corresponding to the target position point, and generate a position guidance instruction based on the position point configuration parameters, where the position point configuration parameters include at least one of the following information: position point position information, position point identification information, position point arrangement order information, position point movement reference information, position point function information, and accessory point information; Obtain the position point configuration parameters corresponding to the target position point and the guidance object information corresponding to the target position point, and generate a position guidance instruction based on the position point configuration parameters and the guidance object information, where the guidance object information is used to indicate the target mover or the judgment method of the target mover.

12. The method according to claim 9, characterized in that, Before generating the position guidance instruction based on the target position point, it further includes: Select the position points as the target position points in sequence based on the position point arrangement order information.

13. A control method for a linear motor device, characterized in that, The linear motor device includes a control device, a stator wire body, and at least one mover. The control device is used to control the mover to move along the stator wire body, and the control device is connected to a host computer. The method is applied to the control device and includes: Receiving a position guidance instruction sent by the host computer. The position guidance instruction is generated by the host computer based on a target position point, and the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover. The mover test information is obtained by the control device based on a position test instruction sent by the host computer and sent to the host computer. The position test instruction is generated by the host computer based on test identification information. The test identification information is determined according to the mover within a preset distance range of the test reference object, and / or the test identification information is specified from the mover identification information of the mover. The position test instruction is sent by the host computer to the control device when the host computer determines that the test mover moves to the position corresponding to the test reference object and / or determines that the stationary duration of the test mover reaches a preset duration threshold. The host computer setting the position point based on the mover test information corresponding to the test mover includes: setting the position information of the position point and / or setting the function information of the position point based on the mover test information, and / or setting the arrangement order information of the position points based on the acquisition order of the mover test information to record the movement path of the test mover through the arrangement order information of the position points. The function information of the position point is determined according to the type of the test reference object corresponding to the test mover, and the function information of the position point is used to indicate one or more functions among operation interaction function, start function, stop function, and limit function. Based on the position guidance instruction, controlling the movement stroke of the mover to correspond to the target position point. The target position point is used to control the movement stroke of the target mover, and the target mover is determined by the repeated position point and the repetition times of the repeated position point. The repeated position point and the repetition times of the repeated position point are determined by the position point configuration parameters corresponding to the target position point.

14. The method according to claim 13, wherein The controlling the movement stroke of the mover to correspond to the target position point based on the position guidance instruction includes at least one of the following: Determining the target mover based on the target position point indicated by the position guidance instruction, and controlling the movement stroke of the target mover based on the target position point. Based on the target position point and the target mover indicated by the position guidance instruction, controlling the movement stroke of the target mover to correspond to the target position point. Determining the target position point from the position points based on the position guidance instruction, and based on the target position point, determining the target mover and controlling the movement stroke of the target mover.

15. The method according to claim 14, wherein The determining the target mover based on the target position point indicated by the position guidance instruction, and controlling the movement stroke of the target mover based on the target position point includes: Based on the position guiding instruction, obtain the position point configuration parameters corresponding to the target position point, and based on the position point configuration parameters, determine the target mover and control the moving stroke of the target mover, where the position point configuration parameters include at least one of the following information: position point location information, position point identification information, position point arrangement order information, position point motion reference information, position point function information, and accessory point information.

16. The method according to claim 14, wherein Controlling the moving stroke of the target mover corresponding to the target position point based on the target position point and the target mover indicated by the position guiding instruction includes: Based on the position guiding instruction, determine the position point configuration parameters corresponding to the target position point and the guiding object information corresponding to the target position point, and based on the position point configuration parameters, control the moving stroke of the target mover corresponding to the guiding object information, where the guiding object information is used to indicate the target mover or the judgment method of the target mover.

17. A configuration device for a linear motor device, characterized in that, The linear motor device includes a control device, a stator line body, and at least one mover. The control device is used to control the mover to move along the stator line body, and the control device is connected to the host computer; The configuration device of the linear motor device is applied to the host computer, and the configuration device includes: An instruction sending module, which is used to generate a position test instruction based on the test identification information; where the test identification information is determined according to the mover within the preset distance range of the test reference object, and / or the test identification information is specified from the mover identification information of the mover; determine that the test mover moves to the position corresponding to the test reference object, and / or determine that the stationary duration of the test mover reaches the preset duration threshold, and send the position test instruction to the control device; An information receiving module, which is used to receive the mover test information sent by the control device based on the position test instruction, and the mover test information is obtained based on the test mover; A position setting module, which is used to set position points based on the mover test information. The position points correspond to the stator line body, and the position points are used to control the moving stroke of the mover; setting the position points based on the mover test information includes: setting the position point location information and / or setting the position point function information based on the mover test information, and / or setting the position point arrangement order information based on the acquisition order of the mover test information to record the moving path of the test mover through the position point arrangement order information; the position point function information is determined according to the type of the test reference object corresponding to the test mover, and the position point function information is used to indicate one or more of the operation interaction function, start function, stop function, and limit function; the position point is also used to select a target position point, and the target position point is used to control the moving stroke of the target mover. The target mover is determined by the repeated position point and the repetition times of the repeated position point, and the repeated position point and the repetition times of the repeated position point are determined by the position point configuration parameters corresponding to the target position point.

18. A configuration device for a linear motor device, characterized in that, The linear motor device includes a control device, a stator line body, and at least one mover. The control device is used to control the mover to move along the stator line body, and the control device is connected to a host computer; The configuration device of the linear motor device is applied to the control device, and the configuration device includes: An instruction receiving module, configured to receive a position test instruction sent by the host computer when it determines that the test mover moves to a position corresponding to a test reference object, and / or receive a position test instruction sent by the host computer when it determines that the stationary duration of the test mover reaches a preset duration threshold. The position test instruction is generated by the host computer based on test identification information; wherein, the test identification information is determined according to the mover within a preset distance range of the test reference object, and / or the test identification information is specified from the mover identification information of the mover; An information acquisition module, configured to acquire mover test information corresponding to the test mover based on the position test instruction; An information sending module, configured to send the mover test information to the host computer, so that the host computer sets position points based on the mover test information. The position points correspond to the stator line body, and the position points are used to control the moving stroke of the mover; the host computer setting position points based on the mover test information includes: setting position point position information and / or setting position point function information based on the mover test information, and / or setting position point arrangement order information based on the acquisition order of the mover test information, so as to record the moving path of the test mover through the position point arrangement order information; the position point function information is determined according to the type of the test reference object corresponding to the test mover, and the position point function information is used to indicate one or more functions among operation interaction function, start function, stop function, and limit function; the position points are also used to select target position points, and the target position points are used to control the moving stroke of the target mover. The target mover is determined by the repeated position points and the repetition times of the repeated position points, and the repeated position points and the repetition times of the repeated position points are determined by the position point configuration parameters corresponding to the target position points.

19. A control device for a linear motor device, characterized in that, The linear motor device includes a control device, a stator line body, and at least one mover. The control device is used to control the mover to move along the stator line body, and the control device is connected to a host computer; The control device of the linear motor device is applied to the host computer, and the control device of the linear motor device includes: An instruction generation module, configured to generate a position guidance instruction based on a target position point, where the target position point is selected from the position points set by the host computer based on the mover test information corresponding to the test mover, and the mover test information is obtained by the control device after receiving a position test instruction sent by the host computer and then sent to the host computer. The position test instruction is generated by the host computer based on test identification information, where the test identification information is determined according to the movers within a preset distance range of the test reference object, and / or the test identification information is specified from the mover identification information of the movers. The position test instruction is sent by the host computer to the control device when the host computer determines that the test mover has moved to the position corresponding to the test reference object, and / or the stationary duration of the test mover has reached a preset duration threshold. The host computer sets the position point based on the mover test information corresponding to the test mover, including: setting the position information of the position point and / or setting the function information of the position point based on the mover test information, and / or setting the arrangement order information of the position points based on the acquisition order of the mover test information, so as to record the movement path of the test mover through the arrangement order information of the position points. The function information of the position point is determined according to the type of the test reference object corresponding to the test mover, and the function information of the position point is used to indicate one or more functions among the operation interaction function, the start function, the stop function, and the limit function. An instruction sending module, configured to send the position guidance instruction to the control device, where the position guidance instruction is used to instruct the control device to control the movement stroke of the mover based on the target position point. The target position point is also used to control the movement stroke of the target mover, and the target mover is determined by the repeated position point and the repetition times of the repeated position point, and the repeated position point and the repetition times of the repeated position point are determined by the position point configuration parameters corresponding to the target position point.

20. A control device for a linear motor device, characterized in that, The linear motor device includes a control device, a stator line body, and at least one mover. The control device is configured to control the mover to move along the stator line body, and the control device is connected to a host computer. The control device of the linear motor device is applied to the control device, and the control device of the linear motor device includes: An instruction receiving module, configured to receive a position guiding instruction sent by a host computer, where the position guiding instruction is generated by the host computer based on a target position point selected from position points set by the host computer based on mover test information corresponding to a test mover, and the mover test information is obtained by the control device based on a position test instruction sent by the host computer and then sent to the host computer. The position test instruction is generated by the host computer based on test identification information, where the test identification information is determined according to a mover within a preset distance range of a test reference object, and / or the test identification information is specified from mover identification information of the mover. The position test instruction is sent by the host computer to the control device when the host computer determines that the test mover has moved to a position corresponding to the test reference object, and / or determines that the stationary duration of the test mover has reached a preset duration threshold. The host computer sets position points based on the mover test information corresponding to the test mover, including: setting position point position information and / or setting position point function information based on the mover test information, and / or setting position point arrangement order information based on the acquisition order of the mover test information to record the movement path of the test mover through the position point arrangement order information. The position point function information is determined according to the type of the test reference object corresponding to the test mover, and the position point function information is used to indicate one or more functions among operation interaction functions, start functions, stop functions, and limit functions. A mover control module, configured to control the movement stroke of the mover to correspond to the target position point based on the position guiding instruction. The target position point is used to control the movement stroke of a target mover, and the target mover is determined by a repeated position point and the repetition times of the repeated position point, and the repeated position point and the repetition times of the repeated position point are determined by position point configuration parameters corresponding to the target position point.

21. A computer storage medium, characterized in that, The computer storage medium stores multiple instructions, and the instructions are suitable for being loaded and executed by a processor to perform the method according to any one of claims 1 to 4 or 5 to 8 or 9 to 12 or 13 to 16.

22. An electronic device, characterized in that, Comprising: A processor and a memory; wherein, the memory stores a computer program, and the computer program is suitable for being loaded and executed by the processor to perform the method according to any one of claims 1 to 4 or 5 to 8 or 9 to 12 or 13 to 16.

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