Related method and device of linear motor equipment, storage medium and electronic equipment

Abstract

The invention provides a related method of linear motor equipment, the method is applied to industrial conveying, and the method comprises the following steps: creating a plurality of position points, the plurality of position points are distributed along a stator line body, the plurality of position points are used for controlling a moving path of a mover module, and the mover module is used for conveying the mover module based on conveying process information of the mover module; first pointing information and second pointing information are configured for at least part of the position points, the first pointing information is used for indicating that the position points initially point to the first object, and the second pointing information is used for indicating that the position points are switched from pointing to the first object to pointing to the second object when conveying abnormal conditions occur in the conveying scene. When the conveying abnormal condition does not occur, the position point of the first pointing information points to the first object by default, the pointing object of the position point is quickly determined, the moving control efficiency of the mover module is improved, the pointing object is switched according to the conveying abnormal condition, so that the moving path of the mover module has variability, and the conveying efficiency is improved. The moving flexibility of the mover module is improved, and the transportation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of industrial conveying technology, and more specifically, to a control method, device, storage medium and electronic device for a linear motor device in the field of industrial conveying technology. Background Art

[0002] Belt conveyor lines can already be used in the prior art to transport and / or process items. However, since the entire item transportation process is achieved by the same conveyor belt of the belt conveyor line, the items placed on the belt conveyor line can only maintain uniform movement, and the item transportation process is rigidified, resulting in low transportation efficiency. Summary of the invention

[0003] The embodiments of the present application provide a method, device, storage medium and electronic device related to a linear motor device. The method can improve the flexibility of the object conveying process by dynamically adjusting the moving path of the mover module, thereby improving the transportation efficiency and being more adaptable to complex and changeable working scenarios.

[0004] In a first aspect, an embodiment of the present application provides a configuration method of a linear motor device, wherein the linear motor device is applied to a transportation scenario, and the linear motor device includes a mover module and a stator line body, and the method includes:

[0005] Creating a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module;

[0006] Based on the conveying process information of the movable module, first pointing information and second pointing information are configured for at least part of the position points, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

[0007] In a second aspect, an embodiment of the present application provides a control method for a linear motor device, wherein the linear motor device is applied to a transportation scenario, and the linear motor device includes a mover module and a stator line body, and the method includes:

[0008] Based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line;

[0009] When the transportation abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transportation abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transportation abnormality occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene;

[0010] Based on the pointing object of the target position point, the moving path of the moving submodule is controlled.

[0011] In a third aspect, an embodiment of the present application provides a configuration method for a linear motor device, the method is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the method includes:

[0012] Creating a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module;

[0013] Based on the conveying process information of the movable module, first pointing information and second pointing information are configured for at least part of the position points, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

[0014] In a fourth aspect, an embodiment of the present application provides a control method for a linear motor device, wherein the linear motor device is applied to a transportation scenario, the linear motor device is connected to a host computer, and the linear motor device includes a mover module and a stator line body, and the method includes:

[0015] Based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line;

[0016] When the transportation abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transportation abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transportation abnormality occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene;

[0017] Based on the pointing object of the target position point, the moving path of the moving submodule is controlled.

[0018] In a fifth aspect, an embodiment of the present application provides a control method for a linear motor device, the method is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the method includes:

[0019] Based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line;

[0020] When the transportation abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transportation abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transportation abnormality occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene;

[0021] A control instruction is generated based on the pointing object of the target position point, and the control instruction is sent to the linear motor device to control the moving path of the mover module.

[0022] In a sixth aspect, an embodiment of the present application provides a control method for a linear motor device, wherein the linear motor device is applied to a transportation scenario, the linear motor device is connected to a host computer, and the linear motor device includes a mover module and a stator line body, and the method includes:

[0023] Receiving control instructions sent by the host computer;

[0024] Based on the control instruction, determine a target position point and an object to which the target position point points, wherein the target position point is determined based on the position information of the mover module, a plurality of the position points are distributed along the stator line, and the object to which the target position point points is determined based on the abnormal transportation information related to the target mover module and the first and second pointing information corresponding to the target position point, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that when an abnormal transportation situation occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that an abnormal transportation situation has been detected in the transportation scene;

[0025] Based on the target position point, the object pointed by the target position point and the position information of the mover module, a moving path of the target mover module corresponding to the target position point is controlled.

[0026] In a seventh aspect, an embodiment of the present application provides a configuration device for a linear motor device, wherein the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the configuration device includes:

[0027] A position point creation unit, used to create a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module;

[0028] A pointing information configuration unit is used to configure first pointing information and second pointing information for at least part of the position points based on the conveying process information of the movable module, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

[0029] In an eighth aspect, an embodiment of the present application provides a control device for a linear motor device, wherein the linear motor device is applied to a transportation scenario, the linear motor device comprises a mover module and a stator line body, and the control device comprises:

[0030] A target determination unit, used to determine the mover module and the position point having a position correspondence relationship based on the position information of the mover module, and obtain a target mover module and a target position point, wherein a plurality of the position points are distributed along the stator line;

[0031] a pointing object determination unit, for, when the transport abnormality information related to the target moving submodule is acquired, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured for the position point, determining that the pointing object of the target position point is the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transport abnormality occurs in the transport scene, the position point switches from pointing to the first object to pointing to the second object, and the transport abnormality information is used to indicate that a transport abnormality is detected in the transport scene;

[0032] The mover module control unit is used to control the moving path of the mover module based on the pointing object of the target position point.

[0033] In a ninth aspect, an embodiment of the present application provides a configuration device for a linear motor device, the device is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the configuration device includes:

[0034] A position point creation unit, used to create a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module;

[0035] A pointing information configuration unit is used to configure first pointing information and second pointing information for at least part of the position points based on the conveying process information of the movable module, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

[0036] In a tenth aspect, an embodiment of the present application provides a control device for a linear motor device, wherein the linear motor device is applied to a transportation scenario, wherein the linear motor device comprises a mover module and a stator line body, wherein the control device is used to control the mover module and the control device is connected to a host computer, and wherein the control device comprises:

[0037] A target determination unit, used to determine the mover module and the position point having a position correspondence relationship based on the position information of the mover module, and obtain a target mover module and a target position point, wherein a plurality of the position points are distributed along the stator line;

[0038] a pointing object determination unit, for, when the transport abnormality information related to the target moving submodule is acquired, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured for the position point, determining that the pointing object of the target position point is the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transport abnormality occurs in the transport scene, the position point switches from pointing to the first object to pointing to the second object, and the transport abnormality information is used to indicate that a transport abnormality is detected in the transport scene;

[0039] The mover module control unit is used to control the moving path of the mover module based on the pointing object of the target position point.

[0040] In an eleventh aspect, an embodiment of the present application provides a control device for a linear motor device, the device is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the control device includes:

[0041] A target determination unit, used to determine the mover module and the position point having a position correspondence relationship based on the position information of the mover module, and obtain a target mover module and a target position point, wherein a plurality of the position points are distributed along the stator line;

[0042] a pointing object determination unit, for, when the transport abnormality information related to the target moving submodule is acquired, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured for the position point, determining that the pointing object of the target position point is the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transport abnormality occurs in the transport scene, the position point switches from pointing to the first object to pointing to the second object, and the transport abnormality information is used to indicate that a transport abnormality is detected in the transport scene;

[0043] A control instruction sending unit is used to generate a control instruction based on the pointing object of the target position point, and send the control instruction to the linear motor device to control the moving path of the mover module.

[0044] In a twelfth aspect, an embodiment of the present application provides a control device for a linear motor device, wherein the linear motor device is applied to a transportation scenario, wherein the linear motor device comprises a mover module and a stator line body, wherein the control device is used to control the mover module and the control device is connected to a host computer, and wherein the control device comprises:

[0045] A control instruction receiving unit, used for receiving a control instruction sent by the host computer;

[0046] An instruction parsing unit is used to determine a target position point and an object pointed to by the target position point based on the control instruction, wherein the target position point is determined based on the position information of the mover module, a plurality of the position points are distributed along the stator line, and the object pointed to by the target position point is determined based on the abnormal transportation information related to the target mover module and the first pointing information and the second pointing information corresponding to the target position point, wherein the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that when an abnormal transportation situation occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that the transportation scene has detected an abnormal transportation situation;

[0047] A mover module control unit is used to control a moving path of a target mover module corresponding to the target position point based on the target position point, the object pointed to by the target position point and the position information of the mover module.

[0048] In a thirteenth aspect, an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor and executing the above-mentioned method steps.

[0049] In the fourteenth aspect, an embodiment of the present application provides an electronic device, which may include: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the above-mentioned method steps.

[0050] In the configuration scheme provided in the embodiment of the present application, multiple position points are created, wherein the multiple position points are distributed along the stator line body, and the multiple position points are used to control the moving path of the moving submodule. Based on the conveying process information of the moving submodule, the first pointing information and the second pointing information are configured for at least some of the position points, wherein the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scene. The first pointing information and the second pointing information are configured for at least some of the position points through the conveying process information of the moving submodule, so that the position point configured with the second pointing information can switch the pointing object according to the conveying abnormality, and since the multiple position points are used to control the moving path of the moving submodule, when no conveying abnormality occurs, the position point configured with the first pointing information defaults to the first object, so that the pointing object of the position point can be quickly determined, thereby improving the moving control efficiency of the moving submodule, and switching the pointing object according to the conveying abnormality makes the moving path of the moving submodule variable, improves the flexibility of the moving submodule, and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency.

[0051] In the control scheme provided in the embodiment of the present application, based on the position information of the mover module, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point. When the transport abnormality information related to the target mover module is obtained, if the target position point is configured with the second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, and based on the pointing object of the target position point, the moving path of the mover module is controlled. By combining the first pointing information and the second pointing information configured for at least part of the position points, the pointing object switching is realized according to the transport abnormality situation, and since multiple position points are used to control the moving path of the mover module, when no transport abnormality occurs, the pointing object of the position point can be quickly determined by the default pointing first object, thereby improving the moving control efficiency of the mover module, and switching the object according to the transport abnormality makes the moving path of the mover module variable, improves the flexibility of the movement of the mover module, and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 is a structural schematic diagram of a linear motor device provided in an embodiment of the present application;

[0054] Figure 2 It is a flow chart of a method for configuring a linear motor device provided in an embodiment of the present application;

[0055] Figure 3 It is a flow chart of a method for configuring a linear motor device provided in an embodiment of the present application;

[0056] Figure 4 is an example schematic diagram of a position point switching provided in an embodiment of the present application;

[0057] Figure 5 This is an example schematic diagram of the correspondence between a position point and a node provided in an embodiment of the present application;

[0058] Figure 6 is an example schematic diagram of a motor module flow diversion control provided in an embodiment of the present application;

[0059] Figure 7 It is a flow chart of a method for configuring a linear motor device provided in an embodiment of the present application;

[0060] Figure 8 It is a flow chart of a method for configuring a linear motor device provided in an embodiment of the present application;

[0061] Fig. 9 This is a schematic diagram of an example of a first pointing relationship between information location points of different levels provided in an embodiment of the present application;

[0062] Fig.10 This is an example schematic diagram of a hierarchical relationship setting between location points provided in an embodiment of the present application;

[0063] Fig.11 is an example schematic diagram of a first pointing relationship between different attribute information location points provided in an embodiment of the present application;

[0064] Fig.12 is a flow chart of a control method of a linear motor device provided in an embodiment of the present application;

[0065] Fig.13 is a flow chart of a control method of a linear motor device provided in an embodiment of the present application;

[0066] Fig.14 is a flow chart of a method related to a linear motor device provided in an embodiment of the present application;

[0067] Fig.15is a flow chart of a method related to a linear motor device provided in an embodiment of the present application;

[0068] Fig.16 It is a flow chart of a method for configuring a linear motor device provided in an embodiment of the present application;

[0069] Fig.17 It is a flow chart of a method for configuring a linear motor device provided in an embodiment of the present application;

[0070] Fig.18 It is a flow chart of a method for configuring a linear motor device provided in an embodiment of the present application;

[0071] Fig.19 It is a flow chart of a method for configuring a linear motor device provided in an embodiment of the present application;

[0072] Fig. 20 is a flow chart of a control method of a linear motor device provided in an embodiment of the present application;

[0073] Fig.21 is a flow chart of a control method of a linear motor device provided in an embodiment of the present application;

[0074] Fig. 22 is a flow chart of a control method of a linear motor device provided in an embodiment of the present application;

[0075] Fig.23 is a flow chart of a control method of a linear motor device provided in an embodiment of the present application;

[0076] Fig.24 is a flow chart of a control method of a linear motor device provided in an embodiment of the present application;

[0077] Fig.25 is a flow chart of a control method of a linear motor device provided in an embodiment of the present application;

[0078] Fig.26 It is a structural schematic diagram of a configuration device of a linear motor device provided in an embodiment of the present application;

[0079] Fig. 27 is a structural schematic diagram of a control device for a linear motor device provided in an embodiment of the present application;

[0080] Fig.28 It is a structural schematic diagram of a configuration device of a linear motor device provided in an embodiment of the present application;

[0081] Fig.29 is a structural schematic diagram of a control device for a linear motor device provided in an embodiment of the present application;

[0082] Fig.30 is a structural schematic diagram of a control device for a linear motor device provided in an embodiment of the present application;

[0083] Fig.31 is a structural schematic diagram of a control device for a linear motor device provided in an embodiment of the present application;

[0084] Fig.32 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0085] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0086] In combination with the above description, it can be seen that the efficiency of transporting items through a belt conveyor line is low. For this reason, in an embodiment of the present application, a linear motor device is applied to a transportation scenario. To facilitate the understanding and implementation of the embodiment of the present application, the structure and working principle of the linear motor device are first schematically described below.

[0087] The linear motor device in the embodiment of the present application is applied to the transportation scene, please refer to Figure 1 , is a schematic diagram of the structure of a linear motor device provided in an embodiment of the present application, the linear motor device may include a stator line 101 and a plurality of mover modules (such as Figure 1 The mover module 102 shown in FIG. 1 ), the electronic device of the linear motor device ( Figure 1 The movable module 102 may be moved along the stator line 101 to achieve the purpose of transportation. For example, after the movable module 102 is loaded with items to be transported, the movable module 102 may be controlled to move along the stator line 101 to achieve the transportation of the items from the moving position to another position.

[0088] Specifically, the stator body 101 may include a plurality of stator modules ( Figure 1 (not shown in the figure), the stator wire 101 can be understood as a linear structure formed by splicing a plurality of stator modules.

[0089] It is understandable that the shape formed by the stator line body being deployed in the moving direction of the mover module can be as follows Figure 1The runway shape shown can also be other shapes such as straight line, polygon, circle, etc. It can also be understood that the line formed by the stator line body deployed in the moving direction of the mover module can include one or more line segments of closed line segments, bifurcated line segments, and non-closed line segments. The shape and deployment method of the stator line body can be determined according to the actual transportation scenario and transportation needs.

[0090] The stator module and the mover module respectively include magnetic components, and the magnetic component included in at least one of the stator module or the mover module has a variable magnetic field, so that the magnetic fields between the stator module and the mover module interact with each other, generate a force acting on the mover module, and drive the mover module to move along the stator line. For example, the stator module may include a coil winding ( Figure 1 (not shown), the mover module (such as the mover module 102) may include a permanent magnet, and the magnetic fields interact to form thrust. After the coil winding is energized, a changing magnetic field can be generated, which interacts with the magnetic field of the permanent magnet, so that the mover module moves relative to the stator body.

[0091] It is understandable that the related methods of the linear motor device provided in the embodiments of the present application can be implemented by relying on a computer program and can be run on an electronic device of the linear motor device based on the von Neumann system. The computer program can be integrated in an application or run as an independent tool application. The electronic device can be a module or application program in the linear motor device for implementing the related methods of the linear motor device, or it can be an electronic device independent of the linear motor device, and the electronic device can control the stator module and the mover module in the linear motor device.

[0092] There may also be operating devices in the transportation scenario, and the operating devices may interact with the mover module. The specific interaction process between the two may be to perform corresponding processing operations on the mover module. For example, the operating device may perform one or more operations of material loading, material unloading, and material processing on the mover module. In the existing related technologies, in order to realize the movement control of the mover module, before the linear motor device is officially put into operation, the movement control parameters of the mover module need to be loaded into the relevant computer program of the linear motor device. Thus, the electronic device of the linear motor device controls the movement path of the mover module according to the movement control parameters. However, with the diversification of application scenarios (such as the increase in operating devices), the movement control parameters that need to be set also increase accordingly, and the control logic of the mover module becomes more complex.

[0093] Based on this, the electronic device of the linear motor device can set one or more position points (such as Figure 1In the middle position point 103), the number and distribution of the position points are related to the operating equipment. The position points can be used to control the moving path of the mover module along the stator line. In other words, the position point indicates the position to which the mover module is to go, thereby guiding the movement of the mover module. In order to enable the electronic device of the linear motor equipment to more accurately control the movement of the mover module along the stator line, the electronic device obtains the transportation situation in the transportation scene, so there can also be a transportation monitoring device in the transportation scene. The transportation monitoring device can be used to monitor the transportation situation of the transportation scene. The transportation monitoring device can include image sensors, infrared sensors, magnetic sensors, laser sensors, etc., and can also include position sensors and speed sensors, etc., so that the transportation monitoring device can obtain the position information of the mover module in the transportation scene, and can also monitor the working conditions of the linear motor equipment and the operating equipment.

[0094] It can be understood that, from the above-mentioned description of the relevant parts, the linear motor device has a stage of setting up the computer program and a stage of formal operation. For the convenience of description and understanding, they can be referred to as the configuration stage and the operation stage in this application. According to the actual situation, the electronic device can be applied to the configuration stage and / or the operation stage. Specifically, the electronic device can be used to execute the configuration method of the linear motor device in the configuration stage, and / or the electronic device can be used to execute the control method of the linear motor device in the operation stage.

[0095] During the configuration phase, the electronic device of the linear motor device can configure the first pointing information and the second pointing information for at least part of the position points according to the conveying process information of the mover module, wherein the conveying process information is used to characterize the conveying process required by the mover module, and the conveying process may include the position and process of material loading, conveying process, material handling and material unloading required by the mover module. The first pointing information is used to indicate the first object to which the position point configured according to the conveying process information initially points, and the second pointing information is used to indicate the second object after the position point configured according to the conveying abnormality that may occur in the transportation scenario switches to point. The electronic device of the linear motor device can also create multiple position points according to the stator line body during the configuration phase.

[0096] During the operation phase, the electronic device of the linear motor device can control the movement of the mover module along the stator line according to the directional information configured in the configuration phase and the actual transportation conditions of the transportation scene. The transportation conditions in the transportation scene may include the operation conditions of the linear motor device, the operation conditions of the operating device, the operation conditions when the mover module and the operating device interact, etc. It is understandable that the actual transportation conditions may include abnormal transportation conditions, which may include emergencies and current limiting conditions.

[0097] It can be understood that, according to actual conditions, the position point configuration and the movement control of the mover module can be performed through the electronic device included in the linear motor device, the position point configuration and the movement control of the mover module can also be performed through the host computer, and the position point configuration and the movement control of the mover module can also be achieved through the interaction between the host computer and the linear motor device, wherein the host computer can be connected to the linear motor device, specifically, the host computer can be connected to the electronic device of the linear motor device to perform information interaction and command interaction with the electronic device of the linear motor device.

[0098] The configuration method of the linear motor device provided by the present application is described in detail below in conjunction with specific embodiments.

[0099] See also Figure 2 , is a flow chart of a method for configuring a linear motor device according to an embodiment of the present application. Figure 2 As shown, the method of the embodiment of the present application is described based on a linear motor device and may include the following steps S101 and S102.

[0100] S101, creating multiple location points.

[0101] Specifically, multiple position points can be created based on the stator line, and the multiple position points are distributed along the stator line. The number and distribution of the position points are related to the operating device. The multiple position points can be used to control the moving path of the mover module. In other words, the position point indicates the position to which the mover module is to go, thereby guiding the movement of the mover module. It can be understood that the position point described in the embodiment of the present application is not a physical position point set based on the stator line, but a virtual position point set by the electronic device of the linear motor device based on the application program to indicate and describe the position to which the mover module is to go on the stator line.

[0102] S102: Based on the conveying process information of the moving submodule, configure first orientation information and second orientation information for at least some of the position points.

[0103] Specifically, the conveying process information of the moving module can be obtained. The conveying process information can be the conveying process required by the moving module in the current actual transportation scenario, which can be generated based on the input operation of the staff. The conveying process information may include the material loading, conveying process, material processing and material unloading processes required by the moving module. For example, it may include the position point from which the moving module needs to obtain the item, and then the position point to which the obtained item is to be transported.

[0104] Then, according to the conveying process information of the moving submodule, the first pointing information and the second pointing information can be configured for at least part of the position points, wherein the first pointing information is used to indicate the first object to which the position point initially points. In other words, a first pointing relationship is established between the position point and the first object. The first pointing relationship can indicate the pointing relationship that the position point initially points to the first object, and can be used to indicate the control of the moving submodule to move from the current position point to the first object. The second pointing information is used to indicate that the position point switches from the first object to the second object when a conveying abnormality occurs in the transportation scene. In other words, according to the conveying abnormality that may occur in the transportation scene, a second pointing relationship is established between the position point and the second object. The second pointing relationship can indicate the pointing relationship when the conveying abnormality triggers the switching of the position point pointing object, so that the pointing of the position point can be switched when a conveying abnormality occurs, thereby dynamically adjusting the pointing object of the position point, so as to be able to flexibly respond to abnormalities that may occur in the transportation scene and avoid the negative impact caused by the abnormality, further ensuring the normal operation of the moving submodule.

[0105] It can be understood that both the first pointing relationship and the second pointing relationship are pointing relationships between multiple position points, but the first pointing relationship is the initial pointing relationship, and the second pointing relationship is a pointing relationship that is triggered only when an abnormal transportation situation occurs, and after the second pointing relationship is triggered, the first pointing relationship is in an invalid state. Accordingly, the first object or the second object pointed to by the position point is used to characterize the next position point to be reached by the moving submodule.

[0106] In addition, according to the transport process information, one or more types of directional information may be configured for the current position point, that is, some position points may be configured with only the first directional information, and some position points may be configured with both the first directional information and the second directional information.

[0107] It can also be understood that, according to actual conditions, for the same position point, one first pointing information and one or more second pointing information can be configured, that is, the same position point can have a second pointing relationship with one or more other position points. When a second pointing relationship exists between a position point and multiple other position points, the triggered second pointing relationship is determined from multiple second pointing relationships by the occurrence of a transport abnormality, thereby determining the second object to which the position point points after switching from multiple second objects.

[0108] In actual transportation scenarios, the actuator module or operating equipment may operate normally or abnormally, for example, it may be started or not started, a fault may or may not occur (specific faults may include power failure, short circuit, damage, etc.), the delivery of items may succeed or fail, the receipt of items may succeed or fail, the loading may be normal or abnormal, the coordinated processing may succeed or fail, and whether the number of actuator modules corresponding to the operating equipment has reached the maximum value.

[0109] The conveying condition can be determined based on the operating condition of the linear motor device, the operating condition of the operating device, and the operating condition of the interaction between the mover module and the operating device. According to the above description, the conveying condition can include at least one of a normal conveying condition and an abnormal conveying condition. The normal conveying condition is a condition in which both the mover module and the operating device are operating normally, and the abnormal conveying condition is a condition in which at least one of the mover module and the operating device is operating abnormally. The abnormal conveying condition can specifically include emergencies and current limiting conditions, wherein emergencies can include, for example, mover failure conditions, mover falling conditions, loaded item falling conditions, operating device failure conditions, and interaction failure conditions between the mover and the operating device. Furthermore, the interaction failure conditions can include, for example, failure to transfer items, failure to receive items, failure in cooperative processing, etc.; the current limiting condition can include, for example, the number of movers interacting with the operating device has reached the maximum value, the movers that have completed the interaction with the operating device have not moved out of the specified area, etc.

[0110] When the moving submodule meets the conditions for moving to the next position point, the next position point that the moving submodule needs to reach can be determined based on the pointing object of the current position point. It can be understood that the conditions for the moving submodule to move to the next position point are related to whether the conveying situation is abnormal. For example, when no conveying abnormality occurs, when the moving submodule successfully completes the interaction with the operating device, it is determined that the conditions for moving to the next position point are met. When the conveying abnormality triggers one or more position points to switch direction, if the position point corresponding to the moving submodule triggers the direction switch, it can be determined that the moving submodule meets the conditions for moving to the next position point. Optionally, based on the material loading operation status in the conveying process information of the movable module, the first pointing information of position point A may be: position point A initially points to position point B, that is, the first object of position point A is position point B; based on the material loading operation status in the conveying process information of the movable module, the second pointing information of position point A may be that when the material loading operation of the movable module fails (such as items falling, the operating device failing to grab the items, etc.), position point A switches from pointing to position point B to pointing to position point C, that is, the second object of position point A is position point C. According to the first pointing information of position point A, a first pointing relationship is established between position point A and position point B, and according to the second pointing information of position point A, a second pointing relationship is established between position point A and position point C.

[0111] Based on this, according to the first pointing information of position point A, position point A initially points to the first object position point B. If no abnormal transportation occurs, when it is identified that the movable module meets the conditions for moving to the next position point (specifically, when it is identified that the movable module has successfully loaded the item at position point A), the movable module is controlled to move from position point A to position point B; if an abnormal transportation occurs in which the material loading operation of the movable module fails, then according to the second pointing information of position point A, position point A switches from pointing to the first object position point B to pointing to the second object position point C, thereby controlling the movable module to move from position point A to position point C.

[0112] For another example, based on the material unloading operation in the conveying process information of the movable module, the first pointing information of the position point D may be: the position point D initially points to the position point E, that is, the first object of the position point D is the position point E; based on the material unloading operation in the conveying process information of the movable module, the second pointing information of the position point D may be that when it is identified that the material unloading operation of the movable module fails, the position point D switches from pointing to the position point E to pointing to the position point D, and the second object of the position point D is the position point D itself, that is, according to the first pointing information of the position point D, there is a first pointing relationship between the position point D and the position point E, and according to the second pointing information of the position point D, there is a second pointing relationship between the position point D and itself.

[0113] Based on this, according to the first pointing information of position point D, position point D initially points to the first object position point E. When it is identified that the movable module has successfully loaded the item at position point D, the movable module is controlled to move from position point D to position point E; if an abnormal transportation situation occurs in which the material unloading operation of the movable module fails, then according to the second pointing information of position point D, position point D switches from pointing to the first object position point E to pointing to the second object position point D itself, thereby controlling the movable module to stay at position point D.

[0114] In an embodiment of the present application, multiple position points are created, wherein the multiple position points are distributed along the stator line body, and the multiple position points are used to control the moving path of the moving submodule. Based on the conveying process information of the moving submodule, the first pointing information and the second pointing information are configured for at least some of the position points, wherein the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scene. The first pointing information and the second pointing information are configured for at least some of the position points through the conveying process information of the moving submodule, so that the position point configured with the second pointing information can switch the pointing object according to the conveying abnormality, and since multiple position points are used to control the moving path of the moving submodule, when no conveying abnormality occurs, the position point configured with the first pointing information defaults to the first object, so that the pointing object of the position point can be quickly determined, thereby improving the moving control efficiency of the moving submodule, and switching the pointing object according to the conveying abnormality makes the moving path of the moving submodule variable, improves the flexibility of the moving submodule, and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency.

[0115] See also Figure 3 , which is a flow chart of a method for configuring a linear motor device according to an embodiment of the present application, such as Figure 3 As shown, the method of the embodiment of the present application is described based on a linear motor device, and the first and second directional information corresponding to the configuration of at least part of the position points based on the conveying process information of the mover module may include the following steps:

[0116] S201, based on the normal conveying process information of the moving submodule, configuring a first object with an initial pointing direction for at least part of the position points.

[0117] Specifically, it can be known from the relevant description that the conveying process information of the mover module may include normal conveying processing process information and abnormal conveying processing process information, and the normal conveying processing process information of the mover module may be obtained. The normal conveying processing process information may be the conveying process normally required for the mover module in the actual transportation scenario, which may be determined by relevant staff and input into the linear motor device. The normal conveying processing process information may include processes such as material loading, conveying process, material handling and material unloading required by the mover module. Based on the normal conveying processing process information of the mover module, an initial pointing first object may be configured for at least some of the position points, that is, a first pointing relationship is established between the position point and the first object, and the mover may be guided to move from the current position point to the first object, wherein the first object may be selected from multiple position points, and the first object includes the first pointing information corresponding to the position point.

[0118] S202: Based on the abnormal transport processing flow information of the moving submodule, a first switching condition and a second object corresponding to the first switching condition are configured for at least part of the position points.

[0119] Specifically, the abnormal transportation processing flow information of the moving submodule is obtained. The abnormal transportation processing flow information may include the abnormal transportation conditions that may occur in the moving submodule in the actual transportation scenario. It can be understood that if in the operation stage steps, there is no abnormal transportation condition in the transportation scenario and it has been in the normal transportation process, then the moving path of the moving submodule can be directly controlled according to the first pointing information. When an abnormal transportation condition occurs, the moving path of the moving submodule needs to be adjusted according to the second pointing information to cope with the abnormal transportation condition. Therefore, based on the abnormal transportation processing flow information of the moving submodule, a first switching condition and a second object corresponding to the first switching condition can be configured for at least part of the position points where abnormal transportation conditions may occur. In other words, the first switching condition and the second object corresponding to the first switching condition are included in the second pointing information corresponding to the position point. The first switching condition is set based on the abnormal transportation condition, and the first switching condition is used to indicate that when the linear motor device determines that an abnormal transportation condition occurs in the operation stage, the position point is switched from pointing to the first object to pointing to the second object, and the second object is a position point that is not selected as the first object among multiple position points.

[0120] It is understandable that there may be multiple judgment results for the first switching condition, such as whether the first switching condition is satisfied or not. Further, depending on the complexity of the specific content of the first switching condition, there may be judgment results that satisfy or do not satisfy different situations of the first switching condition. For ease of description and understanding, in the embodiments of the present application, only the second object obtained when the first switching condition is satisfied is simply involved. For example, if the abnormal transportation situation existing in the transportation scene satisfies the first switching condition, the position point points to the second object corresponding to the first switching condition. However, those skilled in the art should be able to infer, based on the contents disclosed in the embodiments of the present application, that an embodiment of setting different pointing objects according to the judgment results of different situations of the first switching condition is obtained by analogy, and the present application does not impose specific restrictions on this.

[0121] In combination with the abnormal transportation situations in different transportation scenarios, a second pointing relationship is established between the location point and the second object under the first switching condition, which can indicate that the location point switches from pointing to the first object to pointing to the second object when the abnormal transportation situation occurs, and for different abnormal transportation situations that may occur, multiple first switching conditions and second objects corresponding to each first switching condition can be set for the same location point, that is, in actual transportation scenarios, according to different first switching conditions satisfied by the abnormal transportation situation, the pointing object of the location point can be switched to different second objects.

[0122] For example, see Figure 4, an example schematic diagram of position point switching is provided for an embodiment of the present application. Based on the normal conveying processing flow information of the moving submodule, first pointing information can be configured for position point 11. The first pointing information includes a first pointing relationship from position point 11 to position point 12, that is, position point 12 is the first object initially pointed to by position point 11. Based on the abnormal conveying processing flow of the moving submodule, second pointing information can be configured for position point 12. The second pointing information includes a first switching condition and a second pointing relationship corresponding to the first switching condition. The second pointing relationship is that position point 11 points to position point 13, that is, position point 13 is the second object of position point 11. In the operation stage, if the conveying abnormality that meets the first switching condition is not detected, the second pointing relationship will not be triggered, and the moving submodule will be directly controlled to move to position point 12 according to the first pointing relationship. Conversely, if the conveying abnormality that meets the first switching condition is detected, the second pointing relationship will be triggered, and the first object position point 12 pointed to by position point 11 will be switched to the second object position point 13, and the moving submodule will be controlled to move to position point 13 according to the second pointing relationship. It can be understood that before the second pointing relationship is triggered, the moving path of the movable module can be controlled according to the first pointing relationship of multiple position points. There is no need to frequently judge which position point to move to according to the transportation situation of the transportation scene every time the movable module reaches a position point. Only when an abnormal transportation situation is detected, the pointing object of the position point is changed, which reduces the amount of calculation and improves transportation efficiency.

[0123] It is understandable that in the first pointing relationship and the second pointing relationship, for the same position point, in some cases, it may serve as the starting subject in the first pointing relationship or the second pointing relationship and point to another position point as a pointing object, and in other cases, it may serve as the pointing object in the first pointing relationship or the second pointing relationship and be indicated by another position point. In addition, a position point can serve as the starting subject corresponding to one or more pointing objects, or as the pointing object corresponding to one or more starting subjects. Among them, according to the actual conveying process information, the first object is selected from multiple position points, the first object can also be other position points or the position point itself, and the second object can be a position point among multiple position points that is not selected as the first object. For another example, if it is determined that the moving module stays and waits at position point A according to the normal conveying processing flow information of the moving module, the first pointing information can be configured for position point A, wherein the first object pointed to by the position point in the first pointing information is position point A itself, thereby achieving the purpose of the moving module staying at position point A. According to the abnormal conveying processing flow information of the moving module, if a conveying abnormality due to a failure of other moving modules occurs, it is necessary to control the stopped moving module to move out of position point A and move to position point B, then the second object corresponding to the first switching condition of position point A is set to position point B, so that when a conveying abnormality due to a failure of other moving modules occurs, the pointing object of position point A is switched to position point B, thereby controlling the moving module staying at position point A to move to position point B.

[0124] Optionally, the conveying process information of the mover module can be determined according to the specific situation of the conveying scene, and there can be multiple nodes in the conveying process information, and the nodes can be used to represent the positions of material loading, conveying process, material handling and material unloading in the conveying process information. Since the position point is used to represent the expected position of the mover at the corresponding node, the first switching condition corresponding to the second pointing relationship between multiple position points can be matched with the jump condition between multiple nodes in the conveying process information, so each position point can correspond to a node in the conveying process information.

[0125] For example, see also Figure 5, an example schematic diagram of the correspondence between position points and nodes is provided for an embodiment of the present application. In a conveying scenario, the mover module can pass through an operating device along the stator line. The normal conveying processing flow information of the mover module may include: the mover module is started at a certain position around the operating device, and after normal startup, the mover module is controlled to move to be opposite to the operating device, so as to facilitate interactive operation with the operating device. Node 21 can be set as the position where the mover module is started, and node 22 can be set as the position where the mover module moves to be opposite to the operating device. Therefore, the normal conveying processing flow information is transferred from node 21 to node 22. Therefore, according to the normal conveying processing flow information of the mover module, the position point 21 can be set corresponding to the corresponding node 21, that is, the position point 21 can be the expected position of the mover module when it is started, and the position point 22 can be set corresponding to the node 22, that is, the position point 22 can be the position relative to the operating device of the mover module, and a first pointing relationship from the position point 21 to the position point 22 is set, and the first pointing relationship is configured as the first pointing information of the position point 21, and the position point 22 is the first object of the position point 21. Similarly, the abnormal transportation processing flow information of the movable module may include: if there is a movable module outside the position point 21 and located around the operating equipment and an abnormal transportation situation occurs that makes it unable to move, the movable module that reaches the position point 21 is controlled to stay in place to avoid collision of the movable modules. Therefore, the abnormal transportation processing flow information is paused at node 21, so a second pointing relationship from the position point 21 to the position point 21 itself can be set, and the first switching condition corresponding to the second pointing relationship is set to the movable module being unable to move. At this time, the position 21 is the second object of the position point 21. Therefore, during the operation stage, under normal circumstances, the mover module can be directly controlled to move from position point 21 to position point 22 according to the first pointing information of position point 21, so that the mover module can interact with the operating device. If a conveying abnormality that meets the first switching condition is detected, such as the mover module cannot move at position point 22, the second pointing relationship can be triggered to switch the position point 21 from initially pointing to the first object position point 22 to pointing to the second object position point 21, so that the corresponding mover module stays at position point 21 without colliding with the mover module at position point 22.

[0126] Optionally, based on the conveying process information of the mover module, corresponding first directional information and second directional information are configured for position points in different stator segments, thereby realizing diversion control and confluence control of the mover module.

[0127] For example, see Figure 6, provides an example schematic diagram of the flow diversion control of a mover module for an embodiment of the present application, in which position points 31, 32 and 33 in the figure can be position points corresponding to the operating device, respectively, and position points 31, 32 and 33 are arranged along different stator segments. If the conveying process information indicates that the operating device needs to perform interactive operations on the material carried by the mover module, the linear motor device can set the first pointing information and the second pointing information for the position point 31 according to the interactive operation between the mover module at the position point 31 and the operating device. For example, according to the normal conveying process information in the conveying process information, after the mover module normally completes the interactive operation with the operating device at the position point 31, it can move to the position point 32 to continue to perform interactive operations with other operating devices, thereby completing the two processing of the material where the mover module is located, thereby configuring the first pointing information for the position point 31, which includes the first pointing relationship between the position point 31 and the position point 32, and the position point 32 is the first object initially pointed to by the position point 31. According to the abnormal transport processing flow information in the transport flow information, if the moving submodule fails to interact with the operating device at position point 31, the moving submodule needs to be moved to position point 33 in a different stator segment from position point 32 to avoid affecting the subsequent interaction between other moving submodules and the operating device. Therefore, the linear motor device can configure the second pointing information for position point 31, which includes the first switching condition and the second pointing relationship corresponding to the first switching condition. The first switching condition is that the moving submodule fails to interact with the operating device at position point 31. The second pointing relationship is that position point 31 points to position point 33, that is, position point 33 is the second object of position point 31. In the operation stage, under normal circumstances, the moving submodule can be controlled to move from position point 31 to position point 32 according to the first pointing information. However, if the moving submodule fails to interact with the operating device, the second pointing relationship is triggered, and position point 31 is switched from pointing to the first object position point 32 to pointing to the second object position point 33, so that the moving submodule can be controlled to move from position point 31 to position point 33.

[0128] Therefore, based on the first directional information and the second directional information, the purpose of controlling the mover module to move to different positions according to the actual situation of the interactive operation can be achieved during the operation phase, and the diversion control of the mover module can be achieved so that the mover module moves to different stator segments of the stator line under different conditions.

[0129] It is understandable that the flow separation control of the mover module can be realized, and the flow confluence control of the mover module can be realized, so that the mover modules located in different sections of the stator line can be confluenced, for example Figure 6As shown, a first pointing relationship or a second pointing relationship pointing to position point 31 can also be set for position point 33, and a first pointing relationship or a second pointing relationship pointing to position point 31 can be set for position point 32, so that in the operation stage, for each mover module, it can be moved from the stator segment corresponding to position point 33 or position point 32 to the stator segment of position point 31, and for multiple mover modules located in different stator segments, they can be moved in sequence from the stator segment corresponding to position point 33 or position point 32 to the stator segment of position point 31, so as to realize the confluence control of the mover modules.

[0130] In an embodiment of the present application, a first object is configured for a position point based on a normal transport processing flow, and a first switching condition and a corresponding second object are configured for a position point based on an abnormal transport processing flow. When no transport abnormality occurs, the position point points to the first object by default through the configured first pointing information, so that the pointing object of the position point can be quickly determined, thereby improving the movement control efficiency of the movable module. The pointing object is switched according to the transport abnormality, so that the movement path of the movable module has variability, and the diversion and confluence control of the movable module can be realized, thereby further improving the flexibility of the movement of the movable module, and thus improving the flexibility of the article transport process. The position point can also be set corresponding to the transport process information node so that the set pointing information is more consistent with the transport process information, thereby improving the accuracy and success rate of the interactive operation between the movable module and the operating device, thereby further improving the transportation efficiency.

[0131] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0132] Based on the conveying process information of the moving submodule, corresponding pointing recovery information is configured for at least part of the position points, and the pointing recovery information is used to indicate that the position point switches from pointing to the second object back to pointing to the first object after the conveying abnormality is resolved.

[0133] Specifically, the second pointing information is used to switch the first object initially pointed to by the position point to the second object when a transportation abnormality occurs, so as to cope with the transportation abnormality that may occur in the transportation scenario. It can be understood that the transportation abnormality in the transportation scenario may be resolved as the fault is repaired successfully or the fault is removed successfully. For example, after a transportation abnormality occurs in which the material loaded by the movable module falls, the movable module is reloaded, and the transportation abnormality of the failure of the movable module to load the material is resolved; for another example, after a transportation abnormality occurs in which an operating device fails, the transportation abnormality of the operating device failure is resolved after the failed operating device is replaced or repaired. Therefore, in order to cope with the situation in which the transportation abnormality occurs and is resolved in the actual operation stage, the corresponding pointing recovery information can be configured for the position point with the second pointing information to indicate that after the transportation abnormality is resolved, the position point switches from pointing to the second object back to pointing to the first object, so as to continue to control the moving path of the movable module according to the normal transportation processing flow information.

[0134] In one or more embodiments of the present application, the conveying process information based on the moving submodule configures corresponding pointing recovery information for at least some of the position points, including:

[0135] Based on the abnormal transport release process information of the moving submodule, a second switching condition is configured for at least part of the position points, and the second switching condition is used to determine whether the abnormal transport situation is released, and when it is determined that the abnormal transport situation is released, the position point is instructed to switch from pointing to the second object back to pointing to the first object.

[0136] Specifically, the transport process information may also include abnormal transport release process information, which may correspond to the abnormal transport processing process information, and may include the situation in which the transport abnormality is released after the transport abnormality occurs in the moving submodule in the actual transportation scenario. A second switching condition is configured for at least some of the position points where the transport abnormality may be released. The second switching condition includes the pointing recovery information of the position point, which is used to determine whether the transport abnormality is released, and instructs the position point to switch from pointing to the second object back to pointing to the first object when it is determined that the transport abnormality is contacted, that is, to continue to control the moving path of the moving submodule according to the normal transport processing process information.

[0137] It is understandable that if the abnormal transportation situation is only related to the mover module, such as the abnormal transportation situation caused by the failure of the interactive operation of material handling, material loading or material unloading, the movement of the mover module out of the position point can be regarded as the removal of the abnormal transportation situation. If the abnormal transportation situation is not only related to the mover module, but also caused by the failure of the interactive operation due to the failure of the operating device, the abnormal transportation situation can be regarded as the removal of the abnormal transportation situation after the operating device sends a fault removal signal to the linear motor device.

[0138] In an embodiment of the present application, a second switching condition for switching back to the first object is configured based on the abnormal transportation release process information. When the abnormal transportation situation is released, it can switch back to the initial pointing object (i.e., the first object), thereby restoring the initial pointing direction of the position point to guide the normal moving path of the mover module, further improving the flexibility of the movement of the mover module, and better adapting to complex and changeable working scenarios, thereby improving transportation efficiency.

[0139] See also Figure 7 , which is a flow chart of a method for configuring a linear motor device according to an embodiment of the present application, such as Figure 7 As shown, the method of the embodiment of the present application is described based on a linear motor device, and the first and second directional information corresponding to the configuration of at least part of the position points based on the conveying process information of the mover module may include the following steps:

[0140] S301, determining a switchable position point among a plurality of position points based on the conveying process information of the moving submodule.

[0141] Specifically, according to the conveying process information of the movable module, the first pointing relationship and the second pointing relationship may not be set for all position points. If two types of pointing relationships are set for all position points, the calculation amount of the linear motor equipment will be too large, and the transportation efficiency of the movable module will also be reduced. The switchable position points can be determined from multiple position points based on the conveying process information, wherein the switchable position points can be position points determined in the conveying scene based on the conveying process information, which are prone to failure, accident, and current limiting, that is, position points that are prone to conveying abnormalities. Among the multiple position points, the position points other than the switchable position points can be non-switching position points, that is, position points with a low probability of conveying abnormalities.

[0142] Optionally, the switchable position point can be a more important node in the conveying process information, for example, it can be a node representing the position of material loading, material handling and material unloading. At these nodes, it is necessary to interact with the operating equipment. If the interactive operation fails, such as material loading failure, material handling failure, etc., it will affect the subsequent operation of the material, so it is necessary to set the second pointing information to deal with these abnormal conveying situations. The switchable position point can also be set by relevant staff. For example, the relevant staff can determine the position points in the transportation scene that are prone to failure, accidents, and current limitations as switchable position points based on historical work experience. The switchable position point can also be automatically screened by the screening rules set by the relevant staff, where the screening rules can be set according to the position points in the historical transportation scene that are prone to failure, accidents, and current limitations.

[0143] S302: configuring corresponding first pointing information, second pointing information and pointing recovery information for each switchable position point.

[0144] Specifically, corresponding first pointing information, second pointing information and pointing recovery information can be configured for each switchable position point, wherein both the switchable position point and the non-switchable position point can be used as the object to be pointed to, that is, the first object indicated by the first pointing information is a switchable position point or a non-switchable position point, and the second object indicated by the second pointing information is a switchable position point or a non-switchable position point. The configuration method of the first pointing information, the second pointing information and the pointing recovery information can refer to the relevant steps of the above-mentioned embodiment, and will not be repeated here.

[0145] Optionally, since the non-switching position points are only position points with a lower probability of abnormal transportation, they still need to guide the movement of the movable sub-module in the transportation scenario. Therefore, the first pointing information can be configured for the non-switching position points, that is, the first pointing information can be configured for all position points, and then the second pointing information and pointing recovery information are configured for the determined switchable position points, so that in the normal operating stage, the linear motor device can directly control the movement path of the movable sub-module according to the first pointing information, and when the movable sub-module reaches the switchable position point and a transportation abnormality occurs, the pointing object of the switchable position point is switched according to the second pointing information.

[0146] In an embodiment of the present application, first pointing information is configured for all location points, and second pointing information and pointing recovery information are configured for some location points that are prone to failures, accidents, and current limiting, so as to reduce the amount of calculation and lower the calculation load. At the same time, two pointing relationships are configured at location points where abnormal transportation situations are prone to occur to ensure the ability to respond to abnormal situations in the transportation scenario, thereby further improving transportation efficiency.

[0147] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0148] Corresponding attribute information is configured for each location point, wherein the attribute information includes at least one of level information and primary and secondary information.

[0149] Specifically, since there may be a hierarchical relationship and a primary-alternative relationship between location points, corresponding attribute information may be configured for each location point. The attribute information may include at least one of the hierarchical information and the primary-alternative information. The hierarchical information is used to indicate the hierarchical relationship between location points, and the primary-alternative information is used to indicate the primary-alternative relationship between location points.

[0150] Optionally, the attribute information may also include coordinate information and mark information. The linear motor device can establish a coordinate system based on the stator line. The coordinate information is the coordinate of the position point in the coordinate system, which can be used to indicate the position of the position point relative to the stator line. The mark information may be a mark or name set for the position point. In addition to establishing a coordinate system based on the stator line, the linear motor device can also establish a coordinate system based on the transportation scenario.

[0151] In an embodiment of the present application, corresponding attribute information is configured for each location point, wherein the level information improves the efficiency of searching and managing the location points and improves the efficiency of adjusting the location points. The primary and secondary information can avoid the inaccurate position of the location points when creating the location points, and can also include coordinate information and mark information. The coordinate information and mark information facilitate the description of the position and relationship of each location point in the transportation scene.

[0152] See also Figure 8 , which is a flow chart of a method for configuring a linear motor device according to an embodiment of the present application, such as Figure 8 As shown, the method of the embodiment of the present application is described based on a linear motor device, and the configuration of corresponding attribute information for each position point may include the following steps:

[0153] S401, configuring attribute information including first-level information for at least one location point to obtain a first-level location point.

[0154] Specifically, attribute information including first-level information may be configured for at least one location point, thereby obtaining a first-level location point, which is a location point whose attribute information includes first-level information.

[0155] S402: Taking the first-level location point as a reference, relatively configuring attribute information including second-level information for at least one location point to obtain a second-level location point.

[0156] Specifically, the first-level location point can be used as a reference, and attribute information including second-level information can be relatively configured for at least one location point to obtain a second-level location point. The second-level location point is a location point whose attribute information includes second-level information. The second-level location point is set based on the first-level location point, so the second-level location point is associated with the first-level location point. Each first-level location point can correspond to at least one second-level location point, and the use status of the second-level location point is linked to the use status of the first-level location point related to it. The use status may include one or more of deletion, establishment, activation and deactivation. For example, if the first-level location point is deleted, the second-level location point associated with the first-level location point can also be deleted in conjunction with it. If the first-level location point is deactivated, the second-level location point associated with the first-level location point can also be deactivated in conjunction with it.

[0157] It is understandable that there may be some location points with configured level information and some location points with unconfigured level information. Depending on the actual situation, there may be a first pointing relationship or a second pointing relationship between the location points with configured level information and the location points with unconfigured level information, there may also be a first pointing relationship or a second pointing relationship between multiple location points with configured level information, and there may also be a first pointing relationship or a second pointing relationship between multiple location points with unconfigured level information.

[0158] It can also be understood that, according to actual conditions, a first pointing relationship or a second pointing relationship may exist between multiple position points configured with the same level information, and a pointing relationship may also exist between multiple position points configured with different level information.

[0159] For example, see Fig. 9 , which provides an example schematic diagram of the first pointing relationship between information location points of different levels for an embodiment of the present application, wherein the first-level location point 41 and the first-level location point 42 are two different first-level location points, and the second-level location point 41-1 and the second-level location point 41-2 are both second-level location points corresponding to the first-level location point 41.

[0160] For the above-mentioned multiple different levels of location points, at least some of the location points can be selected to set the first pointing information. For example, there can be a first pointing relationship between the first-level location point and the second-level location point. Specifically, the first pointing information of the first-level location point 41 can be set to indicate that the first-level location point 41 initially points to the second-level location point 41-1, or the first pointing information of the second-level location point 41-2 can be set to indicate that the second-level location point 41-2 initially points to the first-level location point 42, thereby obtaining the first-level location point 41 and the second-level location point 41-1 that have a first pointing relationship. For another example, there can also be a first pointing relationship between the second-level location points. Specifically, the first pointing relationship of the second-level location point 41-1 can be set to indicate that the second-level location point 41-1 initially points to the second-level location point 41-2, thereby obtaining the second-level location point 41-1 and the second-level location point 41-2 that have a first pointing relationship. Furthermore, for the above-mentioned multiple different levels of location points, at least some of the location points can be selected to set the second pointing information, so that when an abnormal transportation situation occurs in the transportation scene, the location point can switch from pointing to the first object to pointing to the second object. For details, please refer to the above-mentioned content of setting the first pointing information, which will not be repeated here.

[0161] Optionally, when setting the secondary position point, the primary position point can be used as a reference position point, and the coordinate information of the secondary position point can be determined by determining the relative distance parameters between the secondary position point and the primary position point. For example, if the coordinate information of the primary position point is an absolute coordinate (x, y), the relative distance parameters between the associated secondary position point and the primary position point are Δx and Δy, so the coordinate information of the secondary position point can be a relative coordinate (x+Δx, y+Δy).

[0162] It can be understood that according to the conveying process information of the moving submodule, the moving submodule needs to move around certain position points after reaching certain position points, such as the need to move in coordination with the operating device, the need to move a certain distance to avoid collision with other moving submodules, etc. The search and management efficiency of the position points can be improved by setting level information for the position points. For example, when the moving submodule reaches the first-level position point, if no abnormal transportation occurs, the moving submodule can be controlled to move between the second-level position points associated with the first-level position point according to the first pointing information of the first-level position point. When an abnormal transportation occurs, the moving submodule can be controlled to stop the coordination action with the operating device according to the second pointing information of the first-level position point, such as controlling the moving submodule to move to a position point outside the operating device according to the second pointing information of the first-level position point, thereby driving away from the operating device. In addition, when the position of the position point needs to be adjusted, after the coordinates of the first-level position point are adjusted, since the second-level position point is associated with the corresponding first-level position point, the coordinates of the second-level position point will be adjusted accordingly based on the level relationship and the coordinates of the adjusted first-level position point, thereby improving the adjustment efficiency of the position point.

[0163] For example, see Fig.10 , provides an example schematic diagram of the hierarchical relationship between position points for the embodiment of the present application. The setting of the primary position points and the secondary position points can cooperate with the operating device to complete the operation of the material loaded by the mover module. When the operating device is used to move in a direction perpendicular to the moving direction of the mover, and the mover module moves along the stator line, the mover module can cooperate with the operating device to complete the operation of the material loaded by the mover module, and leave a two-dimensional linear operating device trace on the loaded material. It can be understood that according to the moving speed of the mover module and the moving speed of the operating device, it can be an arc, a straight line, a broken line, etc. In this example, Fig.10 Traces of operating equipment are shown as arcs.

[0164] For example, position point 51 can be a primary position point, and position point 52 is a secondary position point associated with position point 51. If the conveying process information corresponding to the moving submodule requires the operating device to leave a two-dimensional linear operating device trace on the loaded material, and the operating device can only move perpendicular to the stator line, the first pointing information can be configured for position point 51. The first pointing information can indicate that position point 51 points to position point 52, so that in the operation stage, when the operating device moves perpendicular to the stator line, the moving submodule can move from position point 51 to position point 52 at the same time, thereby leaving an arc-shaped operating device trace on the loaded material. If the coordinates of position point 51 are adjusted according to the processing requirements, based on the hierarchical relationship and the adjusted coordinates of position point 51, the coordinates of position point 52 will be adjusted accordingly.

[0165] Optionally, the attribute information may include not only level information but also primary and alternative information, so the attribute information including primary selected information may be configured for at least one position point, thereby obtaining the primary selected position point, which is the position point including the primary selected information in the attribute information, and then taking the primary selected position point as a reference, the attribute information including candidate information may be relatively configured for at least one position point, thereby obtaining the candidate position point, which is the position point including the candidate information in the attribute information, and the candidate position point is set based on the primary selected position point, so the candidate position point is also associated with the primary selected position point. When setting multiple position points, it may be impossible to accurately set the coordinate information of each position point, so the primary selected position point and the candidate position point may be set. If the linear motor equipment or relevant personnel determine in the subsequent process that the candidate position point is more accurate than the primary selected position point, the candidate position point may be used to replace the primary selected position point, and the primary selected position point may be deleted.

[0166] It can be understood that the attribute information of the location point may include at least one of the level information and the primary and alternative information. When the attribute information of the location point includes the level information and the primary and alternative information, the location point may be one of the primary location point and the candidate location point. At the same time, the location point may be one of the primary location point and the secondary location point.

[0167] It can also be understood that there may be some position points configured with primary and replacement information and some position points not configured with primary and replacement information. According to actual conditions, there may be a first pointing relationship or a second pointing relationship between the position points configured with primary and replacement information and the position points not configured with primary and replacement information, there may also be a first pointing relationship or a second pointing relationship between multiple position points configured with primary and replacement information, and there may also be a first pointing relationship or a second pointing relationship between multiple position points not configured with primary and replacement information. And according to actual conditions, there may be a first pointing relationship or a second pointing relationship between multiple position points configured with the same primary and replacement information, and there may also be a first pointing relationship or a second pointing relationship between multiple position points configured with different primary and replacement information.

[0168] It can be understood that, according to actual conditions, a location point may have one or more types of attribute information, so that the first pointing information and the second pointing information may be configured for the location point.

[0169] For example, see Fig.11, an example schematic diagram of a first pointing relationship between different attribute information position points is provided for an embodiment of the present application, the first-level main selection point 61 can be a position point where the first-level information and the main selection information exist in the attribute information, the first-level candidate point 62 can be a position point where the first-level information and the candidate information exist in the attribute information, the second-level main selection point 61-1 and the second-level main selection point 61-2 can be two different position points where the second-level information and the main selection information exist in the attribute information, and the second-level candidate point 62-1 and the second-level candidate point 62-2 can be two different position points where the second-level information and the candidate information exist in the attribute information.

[0170] For multiple location points with different levels of information and different primary and secondary information, at least some of the location points can be selected to set the first pointing information. For example, the first pointing information of the primary main selection point 61 can be set to indicate that the primary main selection point 61 initially points to the secondary main selection point 61-1, so that the primary main selection point 61 and the secondary main selection point 61-1 with a first pointing relationship are obtained. The first pointing information of the secondary main selection point 61-1 can be set to indicate that the secondary main selection point 61-1 initially points to the secondary main selection point 61-2, so that the secondary main selection point 61-1 and the secondary main selection point 61-2 with a first pointing relationship are obtained. And so on and so forth, which will not be described in detail. For the above-mentioned multiple location points with different levels of information and different primary and secondary information, at least some of the location points can be selected to set the second pointing information, so that when a transportation abnormality occurs in the transportation scene, the location point can switch from pointing to the first object to pointing to the second object. For details, please refer to the above-mentioned content of setting the first pointing information, which will not be described in detail.

[0171] In an embodiment of the present application, by configuring corresponding attribute information for each location point, the attribute information may include level information, primary and secondary information, coordinate information and mark information, which is convenient for describing the position and relationship of each location point. The level information improves the efficiency of searching and managing the location points, improves the efficiency of adjusting the location points, and can also facilitate the interactive operation between the coordinated operating device and the movable module. The primary and secondary information can avoid the situation where the location point is inaccurate when the location point is created, and a dynamic adjustment relationship can also be set between the location points of different attribute information, thereby ensuring the flexibility of the movement of the movable module, thereby improving the flexibility of the item conveying process.

[0172] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0173] In response to the location point modification instruction, the location point indicated by the location point modification instruction is modified, wherein at least one of the attribute information, the first pointing information, the second pointing information and the usage status of the location point indicated by the location point modification instruction may be modified.

[0174] Specifically, a corresponding location point modification instruction can be generated based on the input operation of the relevant staff member, and the location point modification instruction can be used to modify the location point. The location point modification instruction can include the mark information of the indicated location point and the modification operation information. The indicated location point is determined based on the mark information in the location point modification instruction, and the indicated location point is modified based on the modification operation information. The modification operation information is used to indicate the type of modification operation specifically performed on the location point, for example, the modification operation information is used to indicate the execution of one or more of the establishment modification operation, deletion modification operation, pointing modification operation, level modification operation, primary replacement modification operation, deactivation modification operation, and activation modification operation on the location point. In other words, the location point modification instruction can modify one or more of the coordinate information, identification information, level information, primary replacement information, first pointing information, second pointing information, and usage status of the location point.

[0175] Optionally, in response to a location point modification instruction, when at least one of the attribute information, first pointing information, second pointing information and usage status of the location point indicated by the location point modification instruction is modified, it also includes: when at least one of a deletion modification operation, a level modification operation and a master-slave modification operation is performed on the indicated location point based on the location point modification instruction, at least one of the attribute information, first pointing information, second pointing information and usage status of the relevant location point is changed.

[0176] Optionally, if the modification operation information in the location point modification instruction is used to indicate a deletion modification operation on the first-level location point, that is, to delete the first-level location point indicated by the flag information in the location point modification instruction, then, since the usage status of the first-level location point is linked to the usage status of its corresponding second-level location point, when the first-level location point is deleted, the second-level location point corresponding to the first-level location point will also be deleted.

[0177] Optionally, when performing a deletion and modification operation on the indicated location point based on the location point modification instruction, the first pointing relationship and the second pointing relationship and other pointing relationships of the related location points of the location point to be deleted can also be automatically modified according to the deletion and modification strategy, wherein the deletion and modification strategy can be pre-set based on prior experience or actual requirements. For example, if the location point targeted by the attribute modification information is location point 71, and the modification operation information includes deletion operation information, then location point 72 and location point 73 having a pointing relationship with location point 71 can be obtained. Assuming that location point 73 initially points to location point 71 and location point 71 initially points to location point 72, after location point 71 is deleted, according to the deletion modification strategy, the first pointing relationship between location point 73 and location point 71 and the first pointing relationship between location point 71 and location point 72 can be changed, such as changing location point 73 to initially point to location point 72; assuming that location point 73 switches to point to location point 71 when a transportation abnormality occurs in the transportation scene, after location point 71 is deleted, according to the deletion modification strategy, the second pointing information indicating that location point 73 switches to point to location point 71 when a transportation abnormality occurs in the transportation scene is deleted. In this way, the pointing relationship of the relevant location points is automatically modified after the location points are deleted, thereby reducing the modification workload.

[0178] Optionally, if the modification operation information in the position point modification instruction is used to indicate a level modification operation to be performed on the secondary position point, that is, the secondary position point indicated by the flag information in the position point modification instruction is modified to a primary position point, since the coordinate information of the secondary position point can be a relative coordinate set relative to the absolute coordinate of the primary position point, when performing a level modification operation on the secondary position point, it is necessary to convert the relative coordinates of the secondary position point into absolute coordinates, and use the converted absolute coordinates as the coordinate information of the primary position point obtained after the level modification operation.

[0179] Correspondingly, when a level modification operation is performed on the indicated secondary location point based on the location point modification instruction, the attribute information of other secondary location points that have a pointing relationship with the secondary location point can also be modified according to the level modification strategy. Specifically, the target secondary location point that needs to be level modified can be determined based on the attribute modification information, and the related secondary location points that have a pointing relationship with the target secondary location point can be obtained. Then, the target secondary location point after the level modification operation is determined as the primary location point corresponding to the related secondary location point, and the relative coordinates of the related secondary location points are calculated based on the absolute coordinates of the target secondary location point after the level modification operation. For example, if the location point targeted by the attribute modification information is the secondary location point 81, and the modification operation information is the level modification operation information, other secondary location points that have a pointing relationship with the secondary location point 81 can also be obtained, wherein the pointing relationship can be a first pointing relationship or a second pointing relationship, for example, the secondary location point 81 has a pointing relationship with the secondary location point 82 and the secondary location point 83, a level modification operation is performed on the secondary location point 81 to obtain the first-level location point 81, and the first-level location points corresponding to the secondary location points 82 and 83 are modified to the first-level location point 81, and the relative coordinate information of the secondary location points 82 and 83 is determined based on the absolute coordinate information of the first-level location point 81.

[0180] In an embodiment of the present application, the attribute information of the location point can be flexibly modified through the location point modification instruction, and when at least one of the deletion modification operation, level modification operation and primary replacement modification operation is performed on the indicated location point based on the location point modification instruction, the directional information of the related location point can be adjusted in combination with the attribute relationship and directional relationship between the indicated location point and the related location points to avoid affecting the normal operation of the transportation scene.

[0181] See also Fig.12 , is a flow chart of a control method for a linear motor device provided in an embodiment of the present application. Fig.12 As shown, the method of the embodiment of the present application is described based on a linear motor device and may include the following steps S501-S503.

[0182] S501, based on the position information of the moving submodule, determining the moving submodule and the position point having the position corresponding relationship, and obtaining the target moving submodule and the target position point.

[0183] Specifically, the position information of the mover module in the transportation scene can be obtained. For example, since the transportation monitoring device can monitor the transportation conditions of the transportation scene, the position information of all mover modules in the transportation scene can be obtained through the transportation monitoring device.

[0184] Then, the movable submodule and the position point with which the position correspondence exists can be determined according to the position information of the movable submodule, and the position point with which the movable submodule corresponds can be the position point reached by the movable submodule. The target movable submodule and the target position point can be obtained from the movable submodule and the position point with which the position correspondence exists, and the target movable submodule can be the movable submodule that has reached a certain position point and needs to be controlled to move to the next position point, and the target position point is the position point with which the target movable submodule corresponds.

[0185] S502, when the transport abnormality information related to the target movable module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object.

[0186] Specifically, the transportation abnormality information related to the target mover module can be obtained, and the transportation abnormality information is obtained by monitoring the transportation conditions of the transportation scene. For example, the transportation abnormality information can be obtained by the control device monitoring the target mover module in the transportation scene through the transportation monitoring device. The transportation abnormality information can be used to indicate that the transportation scene has detected a transportation abnormality.

[0187] Each position point has configuration information, and the configuration information at least includes the first pointing information of the position point set in the configuration stage. Optionally, for at least some of the position points, the configuration information may also include the second pointing information. Since the target position point may be configured with only the first pointing information, or may be configured with the first pointing information and the second pointing information, if the acquired conveying abnormality information is related to the target movable module, it can characterize the conveying abnormality related to the target position point in the transportation scene. At this time, if the target position point is configured with the second pointing information, it is determined that the pointing object of the target position point is the second object corresponding to the conveying abnormality information. Otherwise, based on the first pointing information configured for the target position point, the pointing object of the target position point is still the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scene, and the conveying abnormality information is used to indicate that the transportation scene detects a conveying abnormality.

[0188] S503, controlling the moving path of the moving submodule based on the pointing object of the target position point.

[0189] Specifically, the moving path of the moving submodule can be controlled based on the pointing object of the target position point, and according to the position point specifically represented by the pointing object, the moving submodule can be controlled to move to the position point corresponding to the pointing object of the target position point.

[0190] Optionally, the first object and the second object configured for the target position point in the configuration stage can be distributed along different stator segments, so that the target position point can point to the pointing objects of different stator segments for different transportation conditions in the transportation scenario, so that the moving sub-module can be controlled to move to different stator segments based on the pointing object of the target position point, thereby realizing the diversion control and confluence control of the moving sub-module.

[0191] In an embodiment of the present application, based on the position information of the mover module, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point. When the transport abnormality information related to the target mover module is obtained, if the target position point is configured with the second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, and based on the pointing object of the target position point, the moving path of the mover module is controlled. By combining the first pointing information and the second pointing information configured for at least part of the position points, the pointing object switching is realized according to the transport abnormality situation, and since multiple position points are used to control the moving path of the mover module, when no transport abnormality occurs, the pointing object of the position point can be quickly determined by the default pointing first object, thereby improving the moving control efficiency of the mover module, and switching the object according to the transport abnormality makes the moving path of the mover module variable, improves the flexibility of the movement of the mover module, and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency.

[0192] In one or more embodiments of the present application, the control method of the linear motor device further includes:

[0193] In the received conveying monitoring information, conveying abnormality information related to the target mover module is determined, and the conveying monitoring information is sent by the conveying monitoring device.

[0194] Specifically, transportation monitoring information can be obtained. The transportation monitoring information is obtained by monitoring the transportation conditions of the transportation scene. The transportation monitoring information can include all transportation conditions in the transportation scene, for example, the working conditions of all mover modules and operating equipment, etc. Therefore, the transportation abnormality information related to the target mover module can be determined from the transportation monitoring information, wherein the transportation monitoring information can be sent by the transportation monitoring device.

[0195] Optionally, the conveying monitoring information may include the operating conditions of the linear motor equipment, the operating conditions of the operating equipment, the operating conditions of the interactive operation between the mover module and the operating equipment, and other conveying conditions of the transportation scenario. The conveying monitoring device may include various sensors such as image sensors, infrared sensors, magnetic sensors, laser sensors, etc. The conveying condition can be represented by the status information detected by multiple conveying monitoring devices, and the conveying condition can also be represented by the status information detected by an independent conveying monitoring device.

[0196] In the embodiment of the present application, the transport monitoring information in the transport scene is obtained based on the transport monitoring device, which facilitates the accurate adjustment of the moving path of the mover module according to the transport conditions in the transport scene, and the transport abnormality information related to the target mover module is selected from the transport monitoring information, thereby further improving the control accuracy of a single mover module.

[0197] See also Fig.13 , which is a flow chart of a control method for a linear motor device provided in an embodiment of the present application, such as Fig.13 As shown, the method of the embodiment of the present application is described based on a linear motor device. When the transport abnormality information related to the target mover module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information, otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object, including the following steps:

[0198] S601, when the transport abnormality information related to the target movable module is obtained, if the target position point is configured with second pointing information, based on the first switching condition included in the second pointing information and the second object corresponding to the first switching condition, the second object corresponding to the transport abnormality information is determined and used as the pointing object of the target position point.

[0199] Specifically, when a conveying abnormality related to the target mover module occurs, it will be detected by the conveying monitoring device, thereby obtaining the conveying abnormality information related to the target mover module. If the target position point corresponding to the target mover module has been configured with the second pointing information in the configuration stage, the second object corresponding to the conveying abnormality information can be determined based on the first switching condition included in the second pointing information and the second object corresponding to the first switching condition, wherein the first switching condition is set based on the conveying abnormality, and the first switching condition is used to indicate that when the conveying abnormality occurs, the position point switches from pointing to the first object to pointing to the second object, and the target position point originally points to the first object. If the conveying abnormality indicated by the conveying abnormality information satisfies the first switching condition, it can be determined that the conveying abnormality occurs, and the target position point is switched from pointing to the first object to pointing to the second object, that is, the second object corresponding to the conveying abnormality information is used as the pointing object of the target position point, and the second object is a position point among multiple position points that has not been selected as the first object.

[0200] S602, when the transport abnormality information related to the target moving submodule is obtained, if the target position point is not configured with the second pointing information, then based on the first pointing information configured with the target position point, determine that the pointing object of the target position point is the first object.

[0201] Specifically, when the transport abnormality information related to the target movable module is obtained, if the target position point is not configured with the second pointing information, the pointing object of the target position point can still be determined as the first object in the first pointing information based on the first pointing information configured for the target position point, wherein the first object is selected from multiple position points.

[0202] In the embodiment of the present application, by combining the conveying conditions to determine whether the first switching condition is met, the position point direction is dynamically adjusted to make the moving path of the actuator module variable, thereby improving the directionality of the dynamic adjustment and making the dynamic adjustment more in line with the actual conveying conditions, thereby improving the flexibility of the item conveying process and the ability to respond to abnormal conveying conditions.

[0203] In one or more embodiments of the present application, the control method of the linear motor device further includes the following steps:

[0204] When the exception resolution information corresponding to the transport exception information is obtained, if the target position point is configured with pointing recovery information corresponding to the exception resolution information, it is determined that the pointing object of the target position point is restored to the first object, and the pointing recovery information is used to indicate that the position point switches from pointing to the second object back to pointing to the first object after the transport exception is resolved.

[0205] Specifically, when the abnormal situation of transportation is resolved, it will also be detected by the transportation monitoring device, and the transportation monitoring device can send abnormality resolution information corresponding to the transportation abnormality information to the linear motor device. When the abnormality resolution information corresponding to the transportation abnormality information is obtained, if the target position point is configured with pointing recovery information corresponding to the abnormality resolution information during the configuration stage, the target position point can be restored from pointing to the second object to pointing to the first object, that is, the pointing object of the target position point is determined to be the first object again, wherein the pointing recovery information is used to indicate that the position point switches from pointing to the second object back to pointing to the first object after the abnormal situation of transportation is resolved.

[0206] In one or more embodiments of the present application, when the abnormality release information corresponding to the transport abnormality information is obtained, if the location point is configured with pointing recovery information corresponding to the abnormality release information, determining that the pointing object of the target location point is restored to the first object may include the following steps:

[0207] When the abnormality release information corresponding to the transport abnormality information is obtained, if the location point is configured with pointing recovery information corresponding to the abnormality release information, then based on the first object corresponding to the second switching condition included in the pointing recovery information, the first object corresponding to the abnormality release information is determined and used as the pointing object of the target location point.

[0208] Specifically, when the exception resolution information corresponding to the transport exception information is obtained, if the target location point is configured with pointing recovery information corresponding to the exception resolution information during the configuration stage, the first object of the exception resolution information can be determined based on the second switching condition included in the pointing recovery information and the first object corresponding to the second condition, wherein the second switching condition is used to determine whether the transport exception is resolved, and when it is determined that the transport exception is resolved, instruct the target location point to switch from pointing to the second object back to pointing to the first object; if the exception resolution information corresponding to the transport exception information satisfies the second switching condition in the pointing recovery information, it can be determined that the transport exception is resolved, and the target location point is switched from pointing to the second object back to pointing to the first object, that is, the pointing object of the target location point is restored to the first object.

[0209] In an embodiment of the present application, based on the abnormality resolution information, when the transport abnormality is resolved, it is possible to switch back to the initial pointing object (i.e., the first object), thereby restoring the initial pointing direction of the position point to guide the normal moving path of the mover module, further improving the flexibility of the movement of the mover module, and better adapting to complex and changeable working scenarios, thereby improving transportation efficiency.

[0210] In one or more embodiments of the present application, the control method of the linear motor device further includes the following steps:

[0211] Configuration information of the location point is obtained, wherein the configuration information includes first pointing information or the configuration information includes first pointing information, second pointing information and pointing recovery information.

[0212] Specifically, the configuration information configured for the location point in the configuration phase may be obtained, and the configuration information may include the first pointing information, or may include the first pointing information, the second pointing information, and the pointing recovery information.

[0213] Optionally, the configuration information of the switchable position point among the multiple position points may include the first pointing information, the second pointing information and the pointing recovery information, and the configuration information of the non-switching position point may include the first pointing information.

[0214] In one or more embodiments of the present application, the configuration information of the location point also includes attribute information, and the attribute information includes at least one of level information and primary and secondary information.

[0215] Specifically, the acquired configuration information may also include attribute information, which may include at least one of level information and primary-alternative information. The level information is used to indicate the level relationship between location points, and the primary-alternative information is used to indicate the primary-alternative relationship between location points.

[0216] Optionally, the attribute information may also include coordinate information and mark information. A coordinate system may be established based on the stator line body. The coordinate information is the coordinate of the location point in the coordinate system, which may be used to indicate the position of the location point relative to the stator line body. The mark information may be a mark or name set for the location point. In addition to establishing a coordinate system based on the stator line body, a coordinate system may also be established based on the transportation scenario.

[0217] In an embodiment of the present application, by configuring location points with different attribute information, the efficiency of searching and managing location points and the efficiency of adjusting location points are improved, and the inaccurate position of location points when creating location points is avoided. Coordinate information and mark information can also be configured, which facilitates accurate control of the actuator module to reach the location point.

[0218] In one or more embodiments of the present application, the multiple location points include primary location points and secondary location points, and the secondary location points are relatively configured with respect to the primary location points, wherein the primary location points are location points whose attribute information includes first-level information, and the secondary location points are location points whose attribute information includes second-level information, and the usage status of the secondary location points is linked to the usage status of the primary location points.

[0219] Specifically, the multiple location points may include primary location points and secondary location points. The primary location point is a location point whose attribute information includes first-level information, and the secondary location point is a location point whose attribute information includes second-level information. The secondary location point is set based on the primary location point, so the secondary location point is associated with the primary location point. Each primary location point may correspond to at least one secondary location point, and the usage status of the secondary location point is linked to the usage status of the related primary location point. The usage status may include one or more of deletion, establishment, activation and deactivation.

[0220] Optionally, the multiple location points may include a primary selected location point and a candidate location point. The primary selected location point is a location point whose attribute information includes primary selected information, and the candidate location point is a location point whose attribute information includes candidate information. The candidate location point is set based on the primary selected location point, so the candidate location point is also associated with the primary selected location point.

[0221] In an embodiment of the present application, by configuring location points with different levels of information and primary and secondary information, the efficiency of searching and managing location points and the efficiency of adjusting location points are further improved, thereby avoiding the situation where the location points are inaccurately positioned when they are created. Coordinate information and mark information can also be configured to facilitate accurate control of the actuator module to reach the location point.

[0222] In one or more embodiments of the present application, the control method of the linear motor device further includes the following steps:

[0223] In response to the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information and the use status of the location point indicated by the location point modification instruction is modified.

[0224] Specifically, in addition to being able to modify the attribute information of the location point during the configuration phase, the attribute information of the location point can also be modified during the operation phase. Based on the input operation of the relevant staff, a corresponding location point modification instruction is generated. The location point modification instruction can be used to modify the location point. The location point modification instruction can include the flag information of the indicated location point and the modification operation information. The indicated location point is determined based on the flag information in the location point modification instruction, and the indicated location point is modified based on the modification operation information. The modification operation information is used to indicate the type of modification operation specifically performed on the location point.

[0225] Optionally, when performing at least one of a deletion modification operation, a level modification operation, and a primary-replacement modification operation on the indicated location point based on the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information, and the usage status of the relevant location point may be changed. For details, please refer to the description of the steps for modifying the location point indicated by the location point modification instruction in the above embodiment, which will not be repeated here.

[0226] In an embodiment of the present application, the location point can be flexibly modified based on the location point modification instruction, and when at least one of the deletion modification operation, level modification operation and primary replacement modification operation is performed on the indicated location point based on the location point modification instruction, the direction information of the related location point can be adjusted in combination with the attribute relationship and pointing relationship between the indicated location point and the related location points to avoid affecting the normal operation of the transportation scene.

[0227] It can be understood that the configuration method and / or control method provided in the embodiments of the present application can be executed by the electronic device included in the linear motor equipment, thereby, the algorithm integration is high and the overall hardware architecture is relatively simple.

[0228] In practical applications, as transportation needs become more complex and diversified, the computing load of linear motor equipment increases dramatically and the information processing efficiency decreases. Based on this, a host computer connected to the linear motor equipment can be used to execute at least some steps. For example, the host computer can be used to execute at least some steps of the configuration method, and / or, the host computer can be used to execute at least some steps of the control method, thereby reducing the computing pressure of the linear motor equipment and improving the information processing efficiency.

[0229] For example, the position point can be configured by a host computer or a linear motor device. In the case where the host computer stores the configuration information of the position point, the host computer can determine the object to which the target position point is pointed and generate a corresponding control instruction. The control instruction can include relevant information of the target position point, which can be determined based on whether the linear motor device stores the configuration information of the position point. After the linear motor device receives the control instruction, the moving stroke of the target mover is controlled based on the instruction of the control instruction. In the case where the linear motor device stores the configuration information of the position point, the linear motor device can determine the object to which the target position point is pointed and control the moving stroke of the target mover.

[0230] Furthermore, the electronic device or host computer of the linear motor device may include multiple control modules, some of which are used to control the operating device (i.e., the operating device control module), and some of which are used to control the stator line (i.e., the stator control module). The operating device control module provides information related to the operating device (such as the operation of the operating device, the load of the operating device, the interaction with the mover module, etc.), and the stator control module provides information related to the linear motor (such as the operation of the stator line, the movement of the mover module, etc.). Optionally, the electronic device of the linear motor device may also include a control module for controlling an independent conveying monitoring device to obtain more conveying monitoring information and improve the control accuracy of the mover module.

[0231] See also Fig.14 , is a flow chart of a method for a linear motor device according to an embodiment of the present application. Fig.14 As shown, the method of the embodiment of the present application is described based on a host computer and a linear motor device, and may include the following steps S701-S706.

[0232] S701, creating multiple location points.

[0233] Specifically, the host computer may create multiple position points according to the stator line body, and the multiple position points are distributed along the stator line body. For details, please refer to the relevant description of the step of creating multiple position points in the above embodiment, which will not be repeated here.

[0234] S702: Based on the conveying process information of the moving submodule, configure first orientation information and second orientation information for at least part of the position points.

[0235] Specifically, the host computer can obtain the conveying process information of the movable module, and configure the first pointing information and the second pointing information for at least some of the position points. The conveying process information can be the conveying process required by the movable module in the current actual transportation scenario, which can be generated based on the input operation of the staff. The conveying process information may include the material loading, transmission process, material processing and material unloading processes required by the movable module. For details, please refer to the above embodiment, based on the conveying process information of the movable module, the relevant description of the step of configuring the first pointing information and the second pointing information for at least some of the position points, which will not be repeated here.

[0236] S703, sending configuration information of multiple location points.

[0237] Specifically, the host computer sends the configuration information of the multiple position points that have been set to the linear motor device. The linear motor device can receive the configuration information of the multiple position points sent by the host computer. The configuration information may include the first pointing information and the second pointing information set by the host computer. The first pointing information and the second pointing information are used to dynamically switch the pointing objects of the position points according to the abnormal transportation conditions existing in the transportation scene, and may also include the positions of each position point in the transportation scene.

[0238] S704, based on the position information of the moving submodule, determining the moving submodule and the position point having a position corresponding relationship, and obtaining the target moving submodule and the target position point.

[0239] Specifically, the linear motor equipment can obtain the position information of the mover module in the transportation scene. For example, since the transportation monitoring device can monitor the transportation situation of the transportation scene, the mover module and the position point with a position correspondence relationship can be determined according to the position information of the mover module and the configuration information of multiple position points. For details, please refer to the above embodiment, based on the position information of the mover module and the configuration information of multiple position points, the mover module and the position point with a position correspondence relationship are determined, and the relevant description of the step of obtaining the target mover module and the target position point is not repeated here.

[0240] S705, when the transport abnormality information related to the target movable module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object.

[0241] Specifically, when the linear motor device obtains the conveying abnormality information related to the target mover module, it can switch the pointing object according to the configured second pointing information. For details, refer to the above embodiment. When the conveying abnormality information related to the target mover module is obtained, if the target position point is configured with the second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information; otherwise, based on the first pointing information configured at the position point, the relevant description of the step of determining that the pointing object of the target position point is the first object is not repeated here.

[0242] S706 , controlling the moving path of the moving submodule based on the pointing object of the target position point.

[0243] Specifically, the linear motor device can control the moving path of the mover module based on the pointing object of the target position point, and according to the position point specifically represented by the pointing object, the mover module can be controlled to move to the position point corresponding to the pointing object of the target position point.

[0244] Optionally, the first object and the second object configured for the target position point in the configuration stage can be distributed along different stator segments, so that the target position point can point to the pointing objects of different stator segments for different conveying conditions in the transportation scenario, thereby controlling the moving sub-module to move to different stator segments based on the pointing objects of the target position point, thereby realizing the diversion control and confluence control of the moving sub-module.

[0245] In an embodiment of the present application, a host computer creates multiple position points, configures first pointing information and second pointing information for at least some of the position points based on the conveying process information of the mover module, and sends the configuration information of the multiple position points to the linear motor device. The linear motor device determines the mover module and the position point with a position correspondence based on the position information of the mover module, obtains the target mover module and the target position point, and when the conveying abnormality information related to the target mover module is obtained, if the target position point is configured with the second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, and based on the pointing object of the target position point, the moving path of the mover module is controlled. By combining the first pointing information and the second pointing information configured for at least part of the position points, the switching of the pointing object is achieved according to the abnormal transportation situation. Since multiple position points are used to control the moving path of the movable module, when no abnormal transportation situation occurs, the pointing object of the position point can be quickly determined by the default pointing first object, thereby improving the movement control efficiency of the movable module. By switching the object according to the abnormal transportation situation, the moving path of the movable module is variable, the flexibility of the movable module movement is improved, and it is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency. The operation pressure of the linear motor equipment is reduced through step decoupling, and the information processing efficiency and transportation efficiency are further improved.

[0246] See also Fig.15 , a flow chart of a method related to a linear motor device is provided for an embodiment of the present application, such as Fig.15 As shown, the method of the embodiment of the present application is used to illustrate that the related method of the linear motor device also includes the following steps:

[0247] S801, sending a position point modification instruction.

[0248] Specifically, in addition to modifying the property information of the position point in the configuration phase, the property information of the position point can also be modified in the operation phase. The linear motor device receives the position point modification instruction generated by the host computer based on the input operation of the relevant staff.

[0249] S802: In response to a location point modification instruction, modify at least one of the attribute information, the first pointing information, the second pointing information and the use status of the location point indicated by the location point modification instruction.

[0250] Specifically, the linear motor device can determine the indicated position point based on the flag information in the position point modification instruction, and perform a modification operation on the indicated position point based on the modification operation information. The position point modification instruction can modify one or more of the coordinate information, identification information, level information and primary and secondary information, first pointing information, second pointing information and usage status of the position point. For details, please refer to the relevant description of the step of modifying the position point based on the position point modification instruction in the above embodiment, which will not be repeated here.

[0251] In an embodiment of the present application, the attribute information of the location point can be flexibly modified through the location point modification instruction, and when at least one of the deletion modification operation, level modification operation and primary replacement modification operation is performed on the indicated location point based on the location point modification instruction, the directional information of the related location point can be adjusted in combination with the attribute relationship and directional relationship between the indicated location point and the related location points to avoid affecting the normal operation of the transportation scene.

[0252] It can be understood that the above embodiments only schematically describe the steps and communication interactions respectively performed by the host computer and the linear motor device. In the actual implementation process, the specific execution subject of the relevant method provided in the embodiments of the present application can be determined according to the actual situation, and the embodiments of the present application do not impose specific restrictions on this.

[0253] For ease of understanding and description, the following provides examples of specific steps that can be performed by the host computer or the linear motor device in conjunction with the accompanying drawings.

[0254] See also Fig.16 , is a flow chart of a method for configuring a linear motor device according to an embodiment of the present application. Fig.16 As shown, the method in the embodiment of the present application is described based on a host computer and may include the following steps S901-S902.

[0255] S901, creating multiple location points.

[0256] Specifically, the host computer can create multiple position points based on the stator line body, and the multiple position points are distributed along the stator line body. The number and distribution of the position points are related to the operating device. The multiple position points can be used to control the moving path of the mover module. In other words, the position point indicates the position to which the mover module is to go, thereby guiding the movement of the mover module. It can be understood that the position point described in the embodiment of the present application is not a physical position point set based on the stator line body, but a virtual position point set by the electronic device of the linear motor device based on the application program, which is used to indicate and describe the position to which the mover module is to go on the stator line body.

[0257] S902: Based on the conveying process information of the moving submodule, configure first orientation information and second orientation information for at least some of the position points.

[0258] Specifically, the host computer can obtain the conveying process information of the moving submodule, which can be the conveying process required by the moving submodule in the current actual transportation scenario, and can be generated based on the input operation of the staff. According to the conveying process information of the moving submodule, the first pointing information and the second pointing information can be configured for each position point. For details, please refer to the above embodiment, based on the conveying process information of the moving submodule, the first pointing information and the second pointing information are configured for at least some of the position points, which will not be repeated here.

[0259] In an embodiment of the present application, a host computer creates multiple position points, wherein the multiple position points are distributed along the stator line, and the multiple position points are used to control the moving path of the mover module. Based on the conveying process information of the mover module, first pointing information and second pointing information are configured for at least some of the position points, wherein the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when an abnormal conveying situation occurs in the transportation scenario. The first pointing information and the second pointing information are configured for at least part of the position points through the conveying process information of the movable module, so that the position points configured with the second pointing information can switch the pointing object according to the abnormal conveying situation. Since multiple position points are used to control the moving path of the movable module, when no abnormal conveying situation occurs, the position point configured with the first pointing information points to the first object by default, so that the pointing object of the position point can be quickly determined, thereby improving the movement control efficiency of the movable module. The pointing object is switched according to the abnormal conveying situation, so that the moving path of the movable module has variability, which improves the flexibility of the movable module movement and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency. The computing load of the host computer and the linear motor equipment is reduced through step decoupling, and the computing speed and transportation efficiency are further improved.

[0260] See also Fig.17, which is a flow chart of a method for configuring a linear motor device according to an embodiment of the present application, such as Fig.17 As shown, the method of the embodiment of the present application is described based on the host computer, and the first pointing information and the second pointing information are configured for at least part of the position points based on the conveying process information of the moving submodule, which may include the following steps:

[0261] S1001, based on the normal conveying processing flow information of the moving submodule, configuring a first object with an initial pointing direction for at least part of the position points.

[0262] Specifically, it can be seen from the relevant description that the host computer can configure the first object with initial pointing for at least some of the position points based on the normal conveying processing flow information of the moving submodule, that is, establish a first pointing relationship between the position point and the first object. For details, please refer to the relevant description of the step of configuring the first object with initial pointing for at least some of the position points based on the normal conveying processing flow information of the moving submodule in the above embodiment, which will not be repeated here.

[0263] S1002: Based on the abnormal transport processing flow information of the moving submodule, a first switching condition and a second object corresponding to the first switching condition are configured for at least part of the position points.

[0264] Specifically, the host computer can configure the first switching condition and the second object corresponding to the first switching condition for at least some of the position points where the abnormal transportation situation may occur based on the abnormal transportation processing flow information of the moving submodule. In other words, the first switching condition and the second object corresponding to the first switching condition are included in the second pointing information corresponding to the position point. For details, please refer to the relevant description of the step of configuring the first switching condition and the second object corresponding to the first switching condition for at least some of the position points based on the abnormal transportation processing flow information of the moving submodule in the above embodiment, which will not be repeated here.

[0265] Optionally, the host computer can configure corresponding first and second directional information for position points in different stator segments based on the conveying process information of the mover module, thereby realizing the flow diversion control and confluence control of the mover module. For details, please refer to the description of the steps of configuring corresponding first and second directional information for position points in different stator segments based on the conveying process information of the mover module in the above embodiment, which will not be repeated here.

[0266] In an embodiment of the present application, the upper computer configures a first object for the position point based on the normal conveying processing flow, and configures a first switching condition and a corresponding second object for the position point based on the abnormal conveying processing flow. When no abnormal conveying situation occurs, the position point points to the first object by default through the configured first pointing information, so that the pointing object of the position point can be quickly determined, thereby improving the movement control efficiency of the movable module. The pointing object is switched according to the abnormal conveying situation, so that the movement path of the movable module has variability, and the diversion and confluence control of the movable module can be realized, thereby further improving the flexibility of the movement of the movable module, and thus improving the flexibility of the article conveying process. The position point can also be set corresponding to the conveying process information node so that the set pointing information is more consistent with the conveying process information, thereby improving the accuracy and success rate of the interactive operation between the movable module and the operating device, thereby further improving the transportation efficiency.

[0267] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0268] Based on the conveying process information of the moving submodule, corresponding pointing recovery information is configured for at least part of the position points, and the pointing recovery information is used to indicate that the position point switches from pointing to the second object back to pointing to the first object after the conveying abnormality is resolved.

[0269] Specifically, the second pointing information is used to switch the first object initially pointed to by the position point to the second object when a transportation abnormality occurs, so as to cope with the transportation abnormality that may occur in the transportation scenario. It is understandable that the transportation abnormality in the transportation scenario may be resolved with the successful repair of the fault or the successful removal of the fault, so in order to cope with the state in which the transportation abnormality occurs and is resolved in the actual operation stage, the upper computer can configure the corresponding pointing recovery information for the position point with the second pointing information, so as to indicate that after the transportation abnormality is resolved, the position point switches from pointing to the second object back to pointing to the first object, so as to continue to control the moving path of the actuator module according to the normal transportation processing flow information.

[0270] In one or more embodiments of the present application, configuring corresponding pointing recovery information for at least some of the position points based on the conveying process information of the moving submodule may include the following steps:

[0271] Based on the abnormal conveying processing flow information of the moving submodule, a second switching condition is configured for at least part of the position points, and the second switching condition is used to determine whether the abnormal conveying situation is resolved, and when it is determined that the abnormal conveying situation is resolved, the position point is instructed to switch from pointing to the second object back to pointing to the first object.

[0272] Specifically, the host computer can configure the second switching condition for some position points based on the abnormal conveying processing process of the moving submodule. For details, please refer to the relevant description of the step of configuring the second switching condition for at least some position points based on the abnormal conveying release process information of the moving submodule in the above embodiment, which will not be repeated here.

[0273] In an embodiment of the present application, a second switching condition for switching back to the first object is configured based on the abnormal transportation release process information. When the abnormal transportation situation is released, the initial pointing object can be switched back, and the normal moving path of the movable module is restored, thereby further improving the flexibility of the movement of the movable module and better adapting to complex and changeable working scenarios, thereby improving transportation efficiency.

[0274] See also Fig.18 , which is a flow chart of a method for configuring a linear motor device according to an embodiment of the present application, such as Fig.18 As shown, the method of the embodiment of the present application is described based on the host computer, and the first pointing information and the second pointing information are configured for at least part of the position points based on the conveying process information of the moving submodule, which may include the following steps:

[0275] S1101, determining a switchable position point among a plurality of position points based on the conveying process information of the moving submodule.

[0276] Specifically, the host computer can determine the switchable position point from multiple position points based on the conveying process information, and the position points other than the switchable position points from the multiple position points can be non-switching position points, that is, position points with a low probability of abnormal conveying. For details, please refer to the relevant description of the step of determining the switchable position point from multiple position points based on the conveying process information of the mover module in the above embodiment, which will not be repeated here.

[0277] S1102, configuring corresponding first pointing information, second pointing information and pointing recovery information for each switchable position point.

[0278] Specifically, the host computer can configure the corresponding first pointing information, second pointing information and pointing recovery information for each switchable position point, wherein the first object indicated by the first pointing information is a switchable position point or a non-switchable position point, and the second object indicated by the second pointing information is a switchable position point or a non-switchable position point. For details, please refer to the relevant description of the steps of configuring the corresponding first pointing information, second pointing information and pointing recovery information for each switchable position point in the above embodiment, which will not be repeated here.

[0279] In an embodiment of the present application, first pointing information is configured for all location points, and second pointing information and pointing recovery information are configured for some location points that are prone to failures, accidents, and current limiting, so as to reduce the amount of calculation and lower the calculation load. At the same time, two pointing relationships are configured at location points where abnormal transportation situations are prone to occur to ensure the ability to respond to abnormal situations in the transportation scenario, thereby further improving transportation efficiency.

[0280] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0281] The configuration information of the position point is sent to the linear motor device for use by the linear motor device, wherein the configuration information includes the first orientation information, or the configuration information includes the first orientation information, the second orientation information and orientation recovery information.

[0282] Specifically, after the host computer completes the position point configuration, it sends the configuration information including the first pointing information, or the first pointing information, the second pointing information and the pointing recovery information to the linear motor device for use by the linear motor device, so as to effectively control the moving path of the mover module.

[0283] Optionally, the configuration information may include attribute information configured for the position point in addition to the pointing information. The host computer may send the attribute information together with the pointing information as the configuration information to the linear motor device.

[0284] In an embodiment of the present application, the configuration information is sent to the linear motor device to realize information sharing, which is convenient for coordinating the movement of the mover module with the linear motor device, improves the accuracy of the moving path of the mover module, and further improves the operation speed and transportation efficiency.

[0285] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0286] Corresponding attribute information is configured for each location point, and the attribute information includes at least one of level information and primary and secondary information.

[0287] Specifically, the upper computer can configure corresponding attribute information for each location point. The attribute information may include at least one of level information and primary and secondary information. The level information is used to indicate the level relationship between the location points, and the primary and secondary information is used to indicate the primary and secondary relationship between the location points. For details, please refer to the relevant description of the steps of configuring corresponding attribute information for each location point in the above embodiment, which will not be repeated here.

[0288] In an embodiment of the present application, the upper computer configures corresponding attribute information for each location point, wherein the level information improves the efficiency of searching and managing the location points and improves the efficiency of adjusting the location points, the primary and secondary information can avoid the inaccurate position of the location points when creating the location points, and can also include coordinate information and mark information, which facilitates the description of the position and relationship of each location point in the transportation scene.

[0289] See also Fig.19 , which is a flow chart of a method for configuring a linear motor device according to an embodiment of the present application, such as Fig.19 As shown, the method of the embodiment of the present application is described based on a host computer, and configuring corresponding attribute information for each location point may include the following steps:

[0290] S1201, configuring attribute information including first-level information for at least one location point to obtain a first-level location point.

[0291] Specifically, the host computer may configure attribute information including first-level information for at least one location point, thereby obtaining a first-level location point, where the first-level location point is a location point whose attribute information includes the first-level information.

[0292] S1202: Taking the first-level location point as a reference, relatively configuring attribute information including second-level information for at least one location point to obtain a second-level location point.

[0293] Specifically, the host computer can use the first-level location point as a reference, relatively configure the attribute information including the second-level information for at least one location point, and obtain the second-level location point, wherein the use status of the second-level location point is linked to the use status of the first-level location point. For details, please refer to the description of the step of using the first-level location point as a reference, relatively configuring the attribute information including the second-level information for at least one location point, and obtaining the second-level location point in the above embodiment, which will not be repeated here.

[0294] In an embodiment of the present application, the upper computer configures corresponding attribute information for each location point. The attribute information may include level information, primary and secondary information, coordinate information and mark information, so as to facilitate the description of the position and relationship of each location point. The level information improves the efficiency of searching and managing the location points, improves the efficiency of adjusting the location points, and also facilitates the interactive operation between the coordinated operating device and the movable module. The primary and secondary information can avoid the situation where the location point is inaccurate when the location point is created, and dynamic adjustment relationships can also be set between location points with different attribute information, thereby ensuring the flexibility of the movement of the movable module, thereby improving the flexibility of the item conveying process.

[0295] In one or more embodiments of the present application, the configuration method of the linear motor device further includes the following steps:

[0296] In response to the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information and the use status of the location point indicated by the location point modification instruction is modified.

[0297] Specifically, a corresponding location point modification instruction can be generated based on the input operation of the relevant staff member. The location point modification instruction can be used to modify the location point. The location point modification instruction can include the mark information of the indicated location point and the modification operation information. The upper computer can determine the indicated location point based on the mark information in the location point modification instruction, and modify the indicated location point based on the modification operation information. The modification operation information is used to indicate the type of modification operation specifically performed on the location point. For example, the modification operation information is used to indicate the execution of one or more of the establishment modification operation, deletion modification operation, pointing modification operation, level modification operation, primary replacement modification operation, deactivation modification operation, and activation modification operation on the location point. In other words, the location point modification instruction can modify one or more of the coordinate information, identification information, level information, primary replacement information, first pointing information, second pointing information, and usage status of the location point.

[0298] Optionally, when modifying at least one of the attribute information, first pointing information, second pointing information and usage status of the location point indicated by the location point modification instruction in response to the location point modification instruction, it also includes: when performing at least one of a deletion modification operation, a level modification operation and a primary-replacement modification operation on the indicated location point based on the location point modification instruction, at least one of the attribute information, first pointing information, second pointing information and usage status of the relevant location point is changed. For details, please refer to the relevant description of the step of modifying the location point indicated by the location point modification instruction in response to the location point modification instruction in the above embodiment, which will not be repeated here.

[0299] In an embodiment of the present application, the upper computer can flexibly modify the attribute information of the location point through the location point modification instruction, and when performing at least one of the deletion modification operation, the level modification operation and the main replacement modification operation on the indicated location point based on the location point modification instruction, it can adjust the directional information of the relevant location point in combination with the attribute relationship and directional relationship between the indicated location point and the relevant location points to avoid affecting the normal operation of the transportation scene.

[0300] See also Fig. 20 , is a flow chart of a control method for a linear motor device provided in an embodiment of the present application. Fig. 20 As shown, the method of the embodiment of the present application is described based on a linear motor device and may include the following steps S1301-S1303.

[0301] S1301, based on the position information of the moving submodule, determine the moving submodule and the position point having the position corresponding relationship, and obtain the target moving submodule and the target position point.

[0302] Specifically, the linear motor device can obtain the position information of the mover module in the transportation scenario, and obtain the target mover module and target position point from the mover modules and position points with a position correspondence relationship. The target mover module may be a mover module that has reached a certain position point and needs to be controlled to move to the next position point. The target position point is a position point with a corresponding relationship with the target mover module. For details, please refer to the detailed description of the steps of determining the mover modules and position points with a position correspondence relationship based on the position information of the mover modules and obtaining the target mover module and target position point in the above embodiment, which will not be repeated here.

[0303] S1302, when the transport abnormality information related to the target movable module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object.

[0304] Specifically, when the linear motor device obtains the conveying abnormality information related to the target mover module, it can switch the pointing object according to the configured second pointing information. For details, refer to the above embodiment. When the conveying abnormality information related to the target mover module is obtained, if the target position point is configured with the second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information; otherwise, based on the first pointing information configured at the position point, the relevant description of the step of determining that the pointing object of the target position point is the first object is not repeated here.

[0305] S1303, controlling the moving path of the moving submodule based on the pointing object of the target position point.

[0306] Specifically, the linear motor device can control the moving path of the mover module based on the pointing object of the target position point, and according to the position point specifically represented by the pointing object, the mover module can be controlled to move to the position point corresponding to the pointing object of the target position point.

[0307] Optionally, the first object and the second object configured for the target position point in the configuration stage can be distributed along different stator segments, so that the target position point can point to the pointing objects of different stator segments for different conveying conditions in the transportation scenario, so that the linear motor device can control the mover module to different stator segments based on the pointing object of the target position point, thereby realizing the diversion control and confluence control of the mover module.

[0308] In the control scheme provided in the embodiment of the present application, based on the position information of the movable sub-module, the movable sub-module and the position point with a position correspondence relationship are determined to obtain the target movable sub-module and the target position point. When the conveying abnormality information related to the target movable sub-module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object. Based on the pointing object of the target position point, the moving path of the movable sub-module is controlled. By combining the first pointing information and the second pointing information configured for at least part of the position points, the switching of the pointing object is achieved according to the abnormal transportation situation. Since multiple position points are used to control the moving path of the movable module, when no abnormal transportation situation occurs, the pointing object of the position point can be quickly determined by the default pointing first object, thereby improving the movement control efficiency of the movable module. By switching the object according to the abnormal transportation situation, the moving path of the movable module is variable, the flexibility of the movable module movement is improved, and it is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency. The operation pressure of the linear motor equipment is reduced through step decoupling, and the information processing efficiency and transportation efficiency are further improved.

[0309] In one or more embodiments of the present application, the control method of the linear motor device further includes the following steps:

[0310] In the received conveying monitoring information, conveying abnormality information related to the target mover module is determined, and the conveying monitoring information is sent by the conveying monitoring device or the host computer.

[0311] Specifically, the conveying monitoring information is obtained by monitoring the conveying conditions of the transportation scene. The linear motor equipment can determine the conveying abnormality information related to the target mover module from the conveying monitoring information. The conveying monitoring information can be sent by the conveying monitoring device to the linear motor equipment, or by the conveying monitoring device to the host computer, and then sent by the host computer to the linear motor equipment. For details, please refer to the above embodiment. The relevant description of the step of determining the conveying abnormality information related to the target mover module in the received conveying monitoring information will not be repeated here.

[0312] In the embodiment of the present application, the transport monitoring information in the transport scene is obtained based on the transport monitoring device, which facilitates the accurate adjustment of the moving path of the mover module according to the transport conditions in the transport scene, and the transport abnormality information related to the target mover module is selected from the transport monitoring information, thereby further improving the control accuracy of a single mover module.

[0313] See also Fig.21 , which is a flow chart of a control method for a linear motor device provided in an embodiment of the present application, such as Fig.21 As shown, the method of the embodiment of the present application is described based on a linear motor device. When the transport abnormality information related to the target mover module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information, otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object, which may include the following steps:

[0314] S1401, when the transport abnormality information related to the target movable module is obtained, if the target position point is configured with second pointing information, based on the first switching condition included in the second pointing information and the second object corresponding to the first switching condition, determine the second object corresponding to the transport abnormality information and use it as the pointing object of the target position point.

[0315] Specifically, the linear motor device can obtain the conveying abnormality information related to the target movable submodule. If the target position point is configured with second pointing information, the pointing object of the target position point can be determined based on the second pointing information. For details, please refer to the above embodiment. When the conveying abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the second object corresponding to the conveying abnormality information is determined based on the first switching condition included in the second pointing information and the second object corresponding to the first switching condition, and it is used as the relevant description of the pointing object step of the target position point, which will not be repeated here.

[0316] S1402, when the transport abnormality information related to the target moving submodule is obtained, if the target position point is not configured with the second pointing information, then based on the first pointing information configured at the position point, determine that the pointing object of the target position point is the first object.

[0317] Specifically, if the target position point is not configured with the second pointing information, the linear motor device can determine the pointing object of the target position point based on the first pointing information. For details, please refer to the above embodiment. When the abnormal conveying information related to the target mover module is obtained, if the target position point is not configured with the second pointing information, then based on the first pointing information configured at the target position point, the relevant description of the step of determining that the pointing object of the target position point is the first object is not repeated here.

[0318] In the embodiment of the present application, by combining the conveying conditions to determine whether the first switching condition is met, the position point direction is dynamically adjusted to make the moving path of the actuator module variable, thereby improving the directionality of the dynamic adjustment and making the dynamic adjustment more in line with the actual conveying conditions, thereby improving the flexibility of the item conveying process and the ability to respond to abnormal conveying conditions.

[0319] In one or more embodiments of the present application, the control method of the linear motor device may further include the following steps:

[0320] When the exception resolution information corresponding to the transport exception information is obtained, if the location point is configured with pointing recovery information corresponding to the exception resolution information, the pointing object of the target location point is determined to be restored to the first object, and the pointing recovery information is used to indicate that the location point switches from pointing to the second object back to pointing to the first object after the transport exception is resolved.

[0321] Specifically, when the abnormal situation of transportation is resolved, it will also be detected by the transportation monitoring device, and the transportation monitoring device or the host computer can send abnormality resolution information corresponding to the transportation abnormality information to the linear motor device. When the linear motor device obtains the abnormality resolution information corresponding to the transportation abnormality information, if the target position point is configured with pointing recovery information corresponding to the abnormality resolution information during the configuration stage, the target position point can be restored from pointing to the second object to pointing to the first object, that is, the pointing object of the target position point is determined to be the first object again, wherein the pointing recovery information is used to indicate that the position point switches from pointing to the second object back to pointing to the first object after the abnormal situation of transportation is resolved.

[0322] In one or more embodiments of the present application, when the abnormality release information corresponding to the transport abnormality information is obtained, if the location point is configured with pointing recovery information corresponding to the abnormality release information, determining that the pointing object of the target location point is restored to the first object may include the following steps:

[0323] When the abnormality release information corresponding to the transport abnormality information is obtained, if the location point is configured with pointing recovery information corresponding to the abnormality release information, then based on the first object corresponding to the second switching condition included in the pointing recovery information, the first object corresponding to the abnormality release information is determined and used as the pointing object of the target location point.

[0324] Specifically, when the exception release information is obtained, if the position point is configured with pointing recovery information, the linear motor device can determine the pointing object of the target position point based on the pointing recovery information. For details, please refer to the above embodiment in which when the exception release information corresponding to the conveying exception information is obtained, if the position point is configured with pointing recovery information corresponding to the exception release information, then based on the first object corresponding to the second switching condition included in the pointing recovery information, the first object corresponding to the exception release information is determined and used as the relevant description of the pointing object step of the target position point, which will not be repeated here.

[0325] In an embodiment of the present application, based on the abnormality resolution information, when the transport abnormality is resolved, it is possible to switch back to the initial pointing object (i.e., the first object), thereby restoring the initial pointing direction of the position point to guide the normal moving path of the mover module, further improving the flexibility of the movement of the mover module, and better adapting to complex and changeable working scenarios, thereby improving transportation efficiency.

[0326] In one or more embodiments of the present application, the control method of the linear motor device may further include the following steps:

[0327] Configuration information of multiple location points sent by a host computer is received, wherein the configuration information includes first pointing information or the configuration information includes first pointing information, second pointing information and pointing recovery information.

[0328] Specifically, the linear motor device may obtain configuration information configured for the position point by the host computer during the configuration phase, and the configuration information may include the first orientation information, or may include the first orientation information, the second orientation information and orientation recovery information.

[0329] Optionally, the configuration information of the switchable position point among the multiple position points may include the first pointing information, the second pointing information and the pointing recovery information, and the configuration information of the non-switching position point may include the first pointing information.

[0330] In one or more embodiments of the present application, the configuration information of the location point also includes attribute information, and the attribute information includes at least one of level information and primary and secondary information.

[0331] Specifically, the acquired configuration information may also include attribute information, which may include at least one of level information and primary-alternative information. The level information is used to indicate the level relationship between location points, and the primary-alternative information is used to indicate the primary-alternative relationship between location points.

[0332] Optionally, the attribute information may also include coordinate information and mark information. A coordinate system may be established based on the stator line body. The coordinate information is the coordinate of the location point in the coordinate system, which may be used to indicate the position of the location point relative to the stator line body. The mark information may be a mark or name set for the location point. In addition to establishing a coordinate system based on the stator line body, a coordinate system may also be established based on the transportation scenario.

[0333] In an embodiment of the present application, by configuring location points with different attribute information, the efficiency of searching and managing location points and the efficiency of adjusting location points are improved, and the inaccurate position of location points when creating location points is avoided. Coordinate information and mark information can also be configured, which facilitates accurate control of the actuator module to reach the location point.

[0334] In one or more embodiments of the present application, the multiple location points include primary location points and secondary location points, and the secondary location points are relatively configured with respect to the primary location points, wherein the primary location points are location points whose attribute information includes first-level information, and the secondary location points are location points whose attribute information includes second-level information, and the usage status of the secondary location points is linked to the usage status of the primary location points.

[0335] Specifically, the multiple location points may include primary location points and secondary location points. The primary location point is a location point whose attribute information includes first-level information, and the secondary location point is a location point whose attribute information includes second-level information. The secondary location point is set based on the primary location point, so the secondary location point is associated with the primary location point. Each primary location point may correspond to at least one secondary location point, and the usage status of the secondary location point is linked to the usage status of the related primary location point. The usage status may include one or more of deletion, establishment, activation and deactivation.

[0336] Optionally, the multiple location points may include a primary selected location point and a candidate location point. The primary selected location point is a location point whose attribute information includes primary selected information, and the candidate location point is a location point whose attribute information includes candidate information. The candidate location point is set based on the primary selected location point, so the candidate location point is also associated with the primary selected location point.

[0337] In an embodiment of the present application, by configuring location points with different levels of information and primary and secondary information, the efficiency of searching and managing location points and the efficiency of adjusting location points are further improved, thereby avoiding the situation where the location points are inaccurately positioned when they are created. Coordinate information and mark information can also be configured to facilitate accurate control of the actuator module to reach the location point.

[0338] See also Fig. 22 , which is a flow chart of a control method for a linear motor device provided in an embodiment of the present application, such as Fig. 22 As shown, the method of the embodiment of the present application is described based on a linear motor device, and the control method of the linear motor device also includes the following steps:

[0339] S1501, receiving a position point modification instruction sent by a host computer.

[0340] Specifically, the attribute information of the position point can also be modified during the operation stage. The relevant staff can perform input operations on the upper computer, and the upper computer generates a position point modification instruction based on the input operations of the relevant staff and sends it to the linear motor device, and the linear motor device can receive the position point modification instruction sent by the upper computer.

[0341] S1502: In response to a location point modification instruction, modify at least one of the attribute information, first pointing information, second pointing information, and usage status of the location point indicated by the location point modification instruction.

[0342] Specifically, the position point modification instruction may include flag information of the indicated position point and modification operation information. The linear motor device may determine the indicated position point based on the flag information in the position point modification instruction, and modify the indicated position point based on the modification operation information. The modification operation information is used to indicate the type of modification operation specifically performed on the position point.

[0343] Optionally, when the linear motor device performs at least one of a deletion modification operation, a level modification operation, and a primary-replacement modification operation on the indicated position point based on the position point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information, and the use status of the relevant position point can be changed. For details, please refer to the relevant description of the step of modifying the position point indicated by the position point modification instruction in the above embodiment, which will not be repeated here.

[0344] In an embodiment of the present application, the location point can be flexibly modified based on the location point modification instruction, and when at least one of the deletion modification operation, level modification operation and primary replacement modification operation is performed on the indicated location point based on the location point modification instruction, the direction information of the related location point can be adjusted in combination with the attribute relationship and pointing relationship between the indicated location point and the related location points to avoid affecting the normal operation of the transportation scene.

[0345] Please also see Fig.23 , is a flow chart of a control method for a linear motor device provided in an embodiment of the present application. Fig.23 As shown, the method of the embodiment of the present application is described based on a host computer and a linear motor device, and may include the following steps S1601-S1606.

[0346] S1601, based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point.

[0347] Specifically, the host computer can obtain the position information of the movable sub-module in the transportation scene, and obtain the target movable sub-module and the target position point from the movable sub-modules and the position points with a position corresponding relationship. The target movable sub-module may be a movable sub-module that has reached a certain position point and needs to be controlled to move to the next position point. The target position point is a position point with a corresponding relationship with the target movable sub-module. For details, please refer to the detailed description of the steps of determining the movable sub-module and the position point with a position corresponding relationship based on the position information of the movable sub-module, and obtaining the target movable sub-module and the target position point, which will not be repeated here.

[0348] S1602, when the transport abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object.

[0349] Specifically, when the upper computer obtains the conveying abnormality information related to the target movable module, it can switch the pointing object according to the configured second pointing information. Please refer to the above embodiment for details. When the conveying abnormality information related to the target movable module is obtained, if the target position point is configured with the second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information. Otherwise, based on the first pointing information configured at the position point, the relevant description of the step of determining that the pointing object of the target position point is the first object is not repeated here.

[0350] S1603: Generate a control instruction based on the pointing object of the target location point.

[0351] Specifically, the host computer may generate a control instruction based on the pointing object of the target position point, and the control instruction is used to instruct the linear motor device to control the moving path of the mover module based on the pointing object to move the mover module to the pointing object.

[0352] S1604, sending a control instruction.

[0353] Specifically, the host computer sends the generated control instruction to the linear motor device, so as to control the linear motor device to move the mover module.

[0354] S1605: Determine the target location point and the object pointed to by the target location point based on the control instruction.

[0355] Specifically, after the linear motor device receives the control instruction sent by the host computer, it can determine the target position point and the object pointed to by the target position point according to the control instruction, wherein the target position point is a position point obtained based on the position information of the mover module and the configuration information of multiple position points, and has a position corresponding relationship with the mover module. The multiple position points are distributed along the stator line, and the configuration information includes first pointing information and second pointing information. The first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a transportation abnormality occurs in the transportation scene, and the transportation abnormality information is used to indicate that a transportation abnormality is detected in the transportation scene.

[0356] Optionally, if the linear motor device does not store the attribute information of each position point, the control instruction may include the coordinate information of the target position point and the coordinate information of the object to which the target position point points, so as to facilitate the linear motor device to control the movement of the moving submodule. Conversely, if the linear motor device stores the attribute information of each position point, the control instruction may only include the mark information of the target position point and the mark information of the object to which the target position point points, thereby reducing the length of the control instruction and improving the communication efficiency. The linear motor device can determine the target position point and the object to which the target position point points points based on the mark information.

[0357] S1606, based on the target position point, the object pointed by the target position point and the position information of the moving submodule, controlling the moving path of the target moving submodule corresponding to the target position point.

[0358] Specifically, the moving path of the moving submodule can be controlled based on the pointing object of the target position point, and the moving submodule can be controlled to move to the position point corresponding to the pointing object of the target position point. The target moving submodule is a moving submodule having a position corresponding relationship with the target position point.

[0359] In an embodiment of the present application, the upper computer determines the mover module and the position point that have a position correspondence relationship based on the position information of the mover module, obtains the target mover module and the target position point, and when the conveying abnormality information related to the target mover module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information, otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object, a control instruction is generated based on the pointing object of the target position point and the control instruction is sent to the linear motor device, and the linear motor device determines the target position point and the pointing object of the target position point based on the control instruction, and controls the moving path of the target mover module corresponding to the target position point based on the target position point, the pointing object of the target position point and the position information of the mover module. By using the default first object, the pointing object of the position point can be quickly determined, thereby improving the movement control efficiency of the mover module. By switching objects according to abnormal transportation conditions, the movement path of the mover module is variable, thereby improving the flexibility of the movement of the mover module and being more adaptable to complex and changeable working scenarios, thereby improving transportation efficiency. The computational pressure of the linear motor equipment is reduced through step decoupling, further improving information processing efficiency and transportation efficiency.

[0360] It can be understood that the above embodiments only schematically describe the steps and communication interactions respectively performed by the host computer and the linear motor device. In the actual implementation process, the specific execution subject of the relevant method provided in the embodiments of the present application can be determined according to the actual situation, and the embodiments of the present application do not impose specific restrictions on this.

[0361] For ease of understanding and description, the following provides examples of specific steps that can be performed by the host computer or the linear motor device in conjunction with the accompanying drawings.

[0362] Please also see Fig.24 , is a flow chart of a control method for a linear motor device provided in an embodiment of the present application. Fig.24 As shown, the method in the embodiment of the present application is described based on a host computer and may include the following steps S1701-S1703.

[0363] S1701, based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point.

[0364] Specifically, the host computer can obtain the position information of the movable sub-module in the transportation scene, and obtain the target movable sub-module and the target position point from the movable sub-modules and the position points with a position corresponding relationship. The target movable sub-module may be a movable sub-module that has reached a certain position point and needs to be controlled to move to the next position point. The target position point is a position point with a corresponding relationship with the target movable sub-module. For details, please refer to the detailed description of the steps of determining the movable sub-module and the position point with a position corresponding relationship based on the position information of the movable sub-module, and obtaining the target movable sub-module and the target position point, which will not be repeated here.

[0365] S1702, when the transport abnormality information related to the target movable module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object.

[0366] Specifically, when the upper computer obtains the conveying abnormality information related to the target movable module, it can switch the pointing object according to the configured second pointing information. Please refer to the above embodiment for details. When the conveying abnormality information related to the target movable module is obtained, if the target position point is configured with the second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information. Otherwise, based on the first pointing information configured at the position point, the relevant description of the step of determining that the pointing object of the target position point is the first object is not repeated here.

[0367] S1703, generating a control instruction based on the pointing object of the target position point, and sending the control instruction to the linear motor device to control the moving path of the mover module.

[0368] Specifically, the host computer can generate a control instruction based on the pointing object of the target position point, and send the generated control instruction to the linear motor device to control the linear motor device to move the mover module. The control instruction is used to instruct the linear motor device to control the moving path of the mover module based on the pointing object to move the mover module to the pointing object.

[0369] Optionally, the first object and the second object configured for the target position point in the configuration stage can be distributed along different stator segments, so that the target position point can point to the pointing objects of different stator segments for different conveying conditions in the transportation scenario, so that the upper computer can generate a control instruction based on the pointing object of the target position point, and send the control instruction to the linear motor device to control the mover module to move to different stator segments, thereby realizing the diversion control and confluence control of the mover module.

[0370] In an embodiment of the present application, the upper computer determines the mover module and the position point that have a position correspondence relationship based on the position information of the mover module, and obtains the target mover module and the target position point. When the conveying abnormality information related to the target mover module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object, a control instruction is generated based on the pointing object of the target position point, and the control instruction is sent to the linear motor device to control the moving path of the mover module. By combining the first pointing information and the second pointing information configured for at least part of the position points, the switching of the pointing object is achieved according to the abnormal transportation situation. Since multiple position points are used to control the moving path of the movable module, when no abnormal transportation situation occurs, the pointing object of the position point can be quickly determined by the default pointing first object, thereby improving the movement control efficiency of the movable module. By switching the object according to the abnormal transportation situation, the moving path of the movable module is variable, the flexibility of the movable module movement is improved, and it is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency. The operation pressure of the linear motor equipment is reduced through step decoupling, and the information processing efficiency and transportation efficiency are further improved.

[0371] In one or more embodiments of the present application, the control method of the linear motor device further includes the following steps:

[0372] In the received conveying monitoring information, conveying abnormality information related to the target mover module is determined, and the conveying monitoring information is sent by the conveying monitoring device or the linear motor equipment.

[0373] Specifically, the conveying monitoring information is obtained by monitoring the conveying conditions of the transportation scene. The host computer can determine the conveying abnormality information related to the target mover module from the conveying monitoring information. The conveying monitoring information can be sent by the conveying monitoring device to the host computer, or by the conveying monitoring device to the linear motor device, and then sent by the linear motor device to the host computer. For details, please refer to the above embodiment. In the received conveying monitoring information, the relevant description of the step of determining the conveying abnormality information related to the target mover module is omitted here.

[0374] In the embodiment of the present application, the transport monitoring information in the transport scene is obtained based on the transport monitoring device, which facilitates the accurate adjustment of the moving path of the mover module according to the transport conditions in the transport scene, and the transport abnormality information related to the target mover module is selected from the transport monitoring information, thereby further improving the control accuracy of a single mover module.

[0375] In one or more embodiments of the present application, when the transport abnormality information related to the target mover module is obtained, if the target position point is configured with second pointing information, then the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object, which may include the following steps:

[0376] When the transport abnormality information related to the target moving submodule is obtained, if the target position point is configured with second pointing information, the second object corresponding to the transport abnormality information is determined based on the first switching condition included in the second pointing information and the second object corresponding to the first switching condition, and is used as the pointing object of the target position point, wherein the first switching condition is set based on the transport abnormality, and the first switching condition is used to indicate that the position point switches from pointing to the first object to pointing to the second object when the transport abnormality occurs, and the second object is a position point among multiple position points that is not selected as the first object;

[0377] When the transport abnormality information related to the target movable module is obtained, if the target position point is not configured with the second pointing information, the pointing object of the target position point is determined to be the first object based on the first pointing information configured at the position point, wherein the first object is selected from multiple position points, and the second object is a position point among the multiple position points that has not been selected as the first object.

[0378] Specifically, the host computer can obtain the transport abnormality information related to the target mover module. If the target position point is configured with the second pointing information, the pointing object of the target position point can be determined based on the second pointing information. If the target position point is not configured with the second pointing information, the linear motor device can determine the pointing object of the target position point based on the first pointing information. Specifically, please refer to the above embodiment. When the transport abnormality information related to the target mover module is obtained, if the target position point is configured with the second pointing information, based on the first switching condition included in the second pointing information and the second object corresponding to the first switching condition, the second object corresponding to the transport abnormality information is determined and used as the pointing object step of the target position point. When the transport abnormality information related to the target mover module is obtained, if the target position point is not configured with the second pointing information, the pointing object of the target position point is determined to be the first object based on the first pointing information configured by the position point. The relevant description is not repeated here.

[0379] In the embodiment of the present application, by combining the conveying conditions to determine whether the first switching condition is met, the position point direction is dynamically adjusted to make the moving path of the actuator module variable, thereby improving the directionality of the dynamic adjustment and making the dynamic adjustment more in line with the actual conveying conditions, thereby improving the flexibility of the item conveying process and the ability to respond to abnormal conveying conditions.

[0380] In one or more embodiments of the present application, the control method of the linear motor device further includes the following steps:

[0381] When the abnormality release information corresponding to the transport abnormality information is acquired, if the position point is configured with the pointing restoration information corresponding to the abnormality release information, it is determined that the pointing object of the target position point is restored to the first object.

[0382] Specifically, when the abnormal situation of transportation is resolved, it will also be detected by the transportation monitoring device, and the transportation monitoring device or the linear motor device can send abnormality resolution information corresponding to the transportation abnormality information to the upper computer. When the upper computer obtains the abnormality resolution information corresponding to the transportation abnormality information, if the target position point is configured with pointing recovery information corresponding to the abnormality resolution information during the configuration stage, the target position point can be restored from pointing to the second object to pointing to the first object, that is, the pointing object of the target position point is determined to be the first object again, wherein the pointing recovery information is used to indicate that the position point switches from pointing to the second object back to pointing to the first object after the abnormal situation of transportation is resolved.

[0383] In one or more embodiments of the present application, when the abnormality release information corresponding to the transport abnormality information is obtained, if the location point is configured with pointing recovery information corresponding to the abnormality release information, determining that the pointing object of the target location point is restored to the first object may include the following steps:

[0384] When the abnormality release information corresponding to the transport abnormality information is obtained, if the location point is configured with pointing recovery information corresponding to the abnormality release information, then based on the first object corresponding to the second switching condition included in the pointing recovery information, the first object corresponding to the abnormality release information is determined and used as the pointing object of the target location point.

[0385] Specifically, when the exception resolution information is obtained, if the location point is configured with pointing recovery information, the upper computer can determine the pointing object of the target location point based on the pointing recovery information. For details, please refer to the above embodiment in which when the exception resolution information corresponding to the transport exception information is obtained, if the location point is configured with pointing recovery information corresponding to the exception resolution information, then based on the first object corresponding to the second switching condition included in the pointing recovery information, the first object corresponding to the exception resolution information is determined and used as the pointing object step of the target location point. The details will not be repeated here.

[0386] In an embodiment of the present application, based on the abnormality resolution information, when the transport abnormality is resolved, it is possible to switch back to the initial pointing object (i.e., the first object), thereby restoring the initial pointing direction of the position point to guide the normal moving path of the mover module, further improving the flexibility of the movement of the mover module, and better adapting to complex and changeable working scenarios, thereby improving transportation efficiency.

[0387] In one or more embodiments of the present application, the control method of the linear motor device further includes the following steps:

[0388] Configuration information of the location point is obtained, wherein the configuration information includes first pointing information or the configuration information includes first pointing information, second pointing information and pointing recovery information.

[0389] Specifically, the host computer may obtain configuration information configured for the location point in the configuration phase, and the configuration information may include the first pointing information, or may include the first pointing information, the second pointing information, and the pointing recovery information.

[0390] Optionally, the configuration information of the switchable position point among the multiple position points may include the first pointing information, the second pointing information and the pointing recovery information, and the configuration information of the non-switching position point may include the first pointing information.

[0391] In one or more embodiments of the present application, the configuration information of the location point also includes attribute information, and the attribute information includes at least one of level information and primary and secondary information.

[0392] Specifically, the acquired configuration information may also include attribute information, which may include at least one of level information and primary-alternative information. The level information is used to indicate the level relationship between location points, and the primary-alternative information is used to indicate the primary-alternative relationship between location points.

[0393] Optionally, the attribute information may also include coordinate information and mark information. A coordinate system may be established based on the stator line body. The coordinate information is the coordinate of the location point in the coordinate system, which may be used to indicate the position of the location point relative to the stator line body. The mark information may be a mark or name set for the location point. In addition to establishing a coordinate system based on the stator line body, a coordinate system may also be established based on the transportation scenario.

[0394] In an embodiment of the present application, by configuring location points with different attribute information, the efficiency of searching and managing location points and the efficiency of adjusting location points are improved, and the inaccurate position of location points when creating location points is avoided. Coordinate information and mark information can also be configured, which facilitates accurate control of the actuator module to reach the location point.

[0395] In one or more embodiments of the present application, the multiple location points include primary location points and secondary location points, and the secondary location points are relatively configured with respect to the primary location points, wherein the primary location points are location points whose attribute information includes first-level information, and the secondary location points are location points whose attribute information includes second-level information, and the usage status of the secondary location points is linked to the usage status of the primary location points.

[0396] Specifically, the multiple location points may include primary location points and secondary location points. The primary location point is a location point whose attribute information includes first-level information, and the secondary location point is a location point whose attribute information includes second-level information. The secondary location point is set based on the primary location point, so the secondary location point is associated with the primary location point. Each primary location point may correspond to at least one secondary location point, and the usage status of the secondary location point is linked to the usage status of the related primary location point. The usage status may include one or more of deletion, establishment, activation and deactivation.

[0397] Optionally, the multiple location points may include a primary selected location point and a candidate location point. The primary selected location point is a location point whose attribute information includes primary selected information, and the candidate location point is a location point whose attribute information includes candidate information. The candidate location point is set based on the primary selected location point, so the candidate location point is also associated with the primary selected location point.

[0398] In an embodiment of the present application, by configuring location points with different levels of information and primary and secondary information, the efficiency of searching and managing location points and the efficiency of adjusting location points are further improved, thereby avoiding the situation where the location points are inaccurately positioned when they are created. Coordinate information and mark information can also be configured to facilitate accurate control of the actuator module to reach the location point.

[0399] In one or more embodiments of the present application, the control method of the linear motor device further includes the following steps:

[0400] A position point modification instruction is generated and sent to the linear motor device, wherein the position point modification instruction is used to modify at least one of the attribute information, the first orientation information, the second orientation information and the use status of the indicated position point.

[0401] Specifically, the host computer can generate a position point modification instruction during the operation phase, and then send the position point modification instruction to the linear motor device so that the linear motor device modifies the indicated position point. The position point modification instruction is also used to modify at least one of the attribute information, first pointing information, second pointing information and usage status of the relevant position point when performing at least one of a deletion modification operation, a level modification operation and a primary replacement modification operation on the indicated position point based on the position point modification instruction. For details, please refer to the relevant description of the step of modifying the position point indicated by the position point modification instruction in the above embodiment, which will not be repeated here.

[0402] In an embodiment of the present application, the location point can be flexibly modified based on the location point modification instruction, and when at least one of the deletion modification operation, level modification operation and primary replacement modification operation is performed on the indicated location point based on the location point modification instruction, the direction information of the related location point can be adjusted in combination with the attribute relationship and pointing relationship between the indicated location point and the related location points to avoid affecting the normal operation of the transportation scene.

[0403] Please also see Fig.25 , is a flow chart of a control method for a linear motor device provided in an embodiment of the present application. Fig.25 As shown, the method of the embodiment of the present application is described based on a linear motor device and may include the following steps S1801-S1803.

[0404] S1801, receiving control instructions sent by the host computer.

[0405] Specifically, the linear motor device can receive a control instruction sent by a host computer, and the control execution is obtained by the host computer based on the first orientation information, the second orientation information and the abnormal conveying information of the transportation scene.

[0406] S1802: Determine a target location point and an object pointed to by the target location point based on the control instruction.

[0407] Specifically, the linear motor device can determine a target position point and an object pointed to by the target position point according to a control instruction, wherein the target position point is a position point obtained based on the position information of the mover module and the configuration information of multiple position points, and has a position corresponding relationship with the mover module, and the multiple position points are distributed along the stator line, and the configuration information includes first pointing information and second pointing information, the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a transportation abnormality occurs in the transportation scene, and the transportation abnormality information is used to indicate that a transportation abnormality is detected in the transportation scene.

[0408] Optionally, if the linear motor device does not store the attribute information of each position point, the control instruction may include the coordinate information of the target position point and the coordinate information of the object to which the target position point points, so as to facilitate the linear motor device to control the movement of the moving submodule. Conversely, if the linear motor device stores the attribute information of each position point, the control instruction may only include the mark information of the target position point and the mark information of the object to which the target position point points, thereby reducing the length of the control instruction and improving the communication efficiency. The linear motor device can determine the target position point and the object to which the target position point points points based on the mark information.

[0409] S1803, based on the target position point, the object pointed by the target position point and the position information of the moving submodule, controlling the moving path of the target moving submodule corresponding to the target position point.

[0410] Specifically, the moving path of the movable module can be controlled based on the pointing object of the target position point, and the movable module can be controlled to move from the target position point to the position point corresponding to the pointing object. The target movable module is a movable module that has a position corresponding relationship with the target position point.

[0411] In an embodiment of the present application, a control instruction sent by a host computer is received, and based on the control instruction, a target position point and an object pointed to by the target position point are determined, and based on the target position point, the object pointed to by the target position point and the position information of the mover module, the moving path of the target mover module corresponding to the target position point is controlled. By using the default first object pointed to, the pointing object of the position point can be quickly determined, thereby improving the moving control efficiency of the mover module, and switching objects according to abnormal conveying conditions makes the moving path of the mover module variable, thereby improving the flexibility of the mover module movement, and being more adaptable to complex and changeable working scenes, thereby improving transportation efficiency, and reducing the operational pressure of the linear motor equipment through step decoupling, further improving information processing efficiency and transportation efficiency.

[0412] The embodiments of the present application also provide products corresponding to the above methods, which are described in detail below with reference to the accompanying drawings through specific embodiments. It should be noted that the products described below may include functional modules and / or physical hardware required to implement the methods provided in the embodiments of the present invention, and the functional modules may be implemented by one or more combinations of analog circuits, digital circuits, integrated circuits, and processing chips; the content of the products described below may be referenced to the content of the methods described above.

[0413] The following will be combined with the attached Fig.26 , the configuration device of the linear motor device provided in the embodiment of the present application is introduced in detail. It should be noted that the attached Fig.26 The configuration device in is used to execute the method of the embodiment shown in this application. For the convenience of explanation, only the parts related to the embodiment of this application are shown. For specific technical details not disclosed, please refer to the embodiment shown in this application.

[0414] See also Fig.26 , which shows a schematic diagram of the structure of a configuration device for a linear motor device provided by an exemplary embodiment of the present application. The configuration device for the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both, and the configuration device is connected to the linear motor device. The configuration device 1 of the linear motor device includes a position point creation unit 11 and a direction information configuration unit 12.

[0415] A position point creation unit 11 is used to create a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module;

[0416] The pointing information configuration unit 12 is used to configure first pointing information and second pointing information for at least part of the position points based on the conveying process information of the movable module, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

[0417] In an embodiment of the present application, multiple position points are created, wherein the multiple position points are distributed along the stator line body, and the multiple position points are used to control the moving path of the moving submodule. Based on the conveying process information of the moving submodule, the first pointing information and the second pointing information are configured for at least some of the position points, wherein the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scene. The first pointing information and the second pointing information are configured for at least some of the position points through the conveying process information of the moving submodule, so that the position point configured with the second pointing information can switch the pointing object according to the conveying abnormality, and since multiple position points are used to control the moving path of the moving submodule, when no conveying abnormality occurs, the position point configured with the first pointing information defaults to the first object, so that the pointing object of the position point can be quickly determined, thereby improving the moving control efficiency of the moving submodule, and switching the pointing object according to the conveying abnormality makes the moving path of the moving submodule variable, improves the flexibility of the moving submodule, and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency.

[0418] The following will be combined with the attached Fig. 27 , the control device of the linear motor device provided in the embodiment of the present application is introduced in detail. It should be noted that the attached Fig. 27 The control device is used to execute the method of the embodiment shown in this application. For the convenience of explanation, only the parts related to the embodiment of this application are shown. For specific technical details not disclosed, please refer to the embodiment shown in this application.

[0419] See also Fig. 27 , which shows a schematic diagram of the structure of a control device for a linear motor device provided by an exemplary embodiment of the present application. The control device for the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both, and the control device is connected to the linear motor device. The control device 2 of the linear motor device includes a target determination unit 21, a pointing object determination unit 22 and a mover module control unit 23.

[0420] A target determination unit 21 is used to determine the mover modules and position points having a position correspondence relationship based on the position information of the mover modules, and obtain a target mover module and a target position point, wherein a plurality of the position points are distributed along the stator line;

[0421] A pointing object determination unit 22 is used for, when the transportation abnormality information related to the target moving submodule is acquired, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transportation abnormality information; otherwise, based on the first pointing information configured for the position point, determining that the pointing object of the target position point is the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a transportation abnormality occurs in the transportation scene, and the transportation abnormality information is used to indicate that a transportation abnormality is detected in the transportation scene;

[0422] The mover module control unit 23 is used to control the moving path of the mover module based on the pointing object of the target position point.

[0423] In an embodiment of the present application, based on the position information of the mover module, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point. When the transport abnormality information related to the target mover module is obtained, if the target position point is configured with the second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, and based on the pointing object of the target position point, the moving path of the mover module is controlled. By combining the first pointing information and the second pointing information configured for at least part of the position points, the pointing object switching is realized according to the transport abnormality situation, and since multiple position points are used to control the moving path of the mover module, when no transport abnormality occurs, the pointing object of the position point can be quickly determined by the default pointing first object, thereby improving the moving control efficiency of the mover module, and switching the object according to the transport abnormality makes the moving path of the mover module variable, improves the flexibility of the movement of the mover module, and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency.

[0424] The following will be combined with the attached Fig.28 , the configuration device of the linear motor device provided in the embodiment of the present application is introduced in detail. It should be noted that the attached Fig.28 The configuration device in is used to execute the method of the embodiment shown in this application. For the convenience of explanation, only the parts related to the embodiment of this application are shown. For specific technical details not disclosed, please refer to the embodiment shown in this application.

[0425] See also Fig.28, which shows a schematic diagram of the structure of a configuration device for a linear motor device provided by an exemplary embodiment of the present application. The configuration device for the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both. The configuration device is applied to a host computer, and the host computer is connected to the linear motor device. The configuration device 3 of the linear motor device includes a position point creation unit 31 and a direction information configuration unit 32.

[0426] A position point creation unit 31 is used to create a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module;

[0427] The pointing information configuration unit 32 is used to configure first pointing information and second pointing information for at least part of the position points based on the conveying process information of the movable module, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

[0428] In an embodiment of the present application, a host computer creates multiple position points, wherein the multiple position points are distributed along the stator line, and the multiple position points are used to control the moving path of the mover module. Based on the conveying process information of the mover module, first pointing information and second pointing information are configured for at least some of the position points, wherein the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when an abnormal conveying situation occurs in the transportation scenario. The first pointing information and the second pointing information are configured for at least part of the position points through the conveying process information of the movable module, so that the position points configured with the second pointing information can switch the pointing object according to the abnormal conveying situation. Since multiple position points are used to control the moving path of the movable module, when no abnormal conveying situation occurs, the position point configured with the first pointing information points to the first object by default, so that the pointing object of the position point can be quickly determined, thereby improving the movement control efficiency of the movable module. The pointing object is switched according to the abnormal conveying situation, so that the moving path of the movable module has variability, which improves the flexibility of the movable module movement and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency. The computing load of the host computer and the linear motor equipment is reduced through step decoupling, and the computing speed and transportation efficiency are further improved.

[0429] The following will be combined with the attached Fig.29 , the control device of the linear motor device provided in the embodiment of the present application is introduced in detail. It should be noted that the attached Fig.29The control device is used to execute the method of the embodiment shown in this application. For the convenience of explanation, only the parts related to the embodiment of this application are shown. For specific technical details not disclosed, please refer to the embodiment shown in this application.

[0430] See also Fig.29 , which shows a schematic diagram of the structure of a control device for a linear motor device provided by an exemplary embodiment of the present application. The control device for the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both. The control device is applied to the linear motor device, used to control the mover module and the control device is connected to the host computer. The configuration device 4 of the linear motor device includes a target determination unit 41, a pointing object determination unit 42 and a mover module control unit 43.

[0431] A target determination unit 41 is used to determine the mover modules and position points having a position correspondence relationship based on the position information of the mover modules, and obtain a target mover module and a target position point, wherein a plurality of the position points are distributed along the stator line;

[0432] A pointing object determination unit 42 is used for, when the transportation abnormality information related to the target moving submodule is acquired, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transportation abnormality information; otherwise, based on the first pointing information configured for the position point, determining that the pointing object of the target position point is the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a transportation abnormality occurs in the transportation scene, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene;

[0433] The moving module control unit 43 is used to control the moving path of the moving module based on the pointing object of the target position point.

[0434] In the control scheme provided in the embodiment of the present application, based on the position information of the movable sub-module, the movable sub-module and the position point with a position correspondence relationship are determined to obtain the target movable sub-module and the target position point. When the conveying abnormality information related to the target movable sub-module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object. Based on the pointing object of the target position point, the moving path of the movable sub-module is controlled. By combining the first pointing information and the second pointing information configured for at least part of the position points, the switching of the pointing object is achieved according to the abnormal transportation situation. Since multiple position points are used to control the moving path of the movable module, when no abnormal transportation situation occurs, the pointing object of the position point can be quickly determined by the default pointing first object, thereby improving the movement control efficiency of the movable module. By switching the object according to the abnormal transportation situation, the moving path of the movable module is variable, the flexibility of the movable module movement is improved, and it is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency. The operation pressure of the linear motor equipment is reduced through step decoupling, and the information processing efficiency and transportation efficiency are further improved.

[0435] The following will be combined with the attached Fig.30 , the control device of the linear motor device provided in the embodiment of the present application is introduced in detail. It should be noted that the attached Fig.30 The control device is used to execute the method of the embodiment shown in this application. For the convenience of explanation, only the parts related to the embodiment of this application are shown. For specific technical details not disclosed, please refer to the embodiment shown in this application.

[0436] See also Fig.30 , which shows a schematic diagram of the structure of a control device for a linear motor device provided by an exemplary embodiment of the present application. The control device for the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both. The control device is applied to a host computer, and the host computer is connected to the linear motor device. The configuration device 5 of the linear motor device includes a target determination unit 51, a pointing object determination unit 52 and a control instruction sending unit 53.

[0437] A target determination unit 51 is used to determine the mover modules and position points with position correspondence based on the position information of the mover modules, and obtain a target mover module and a target position point, wherein a plurality of the position points are distributed along the stator line;

[0438] A pointing object determination unit 52 is used for, when the transportation abnormality information related to the target moving submodule is acquired, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transportation abnormality information; otherwise, based on the first pointing information configured for the position point, determining that the pointing object of the target position point is the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a transportation abnormality occurs in the transportation scene, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene;

[0439] The control instruction sending unit 53 is used to generate a control instruction based on the pointing object of the target position point, and send the control instruction to the linear motor device to control the moving path of the mover module.

[0440] In an embodiment of the present application, the upper computer determines the mover module and the position point that have a position correspondence relationship based on the position information of the mover module, and obtains the target mover module and the target position point. When the conveying abnormality information related to the target mover module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object, a control instruction is generated based on the pointing object of the target position point, and the control instruction is sent to the linear motor device to control the moving path of the mover module. By combining the first pointing information and the second pointing information configured for at least part of the position points, the switching of the pointing object is achieved according to the abnormal transportation situation. Since multiple position points are used to control the moving path of the movable module, when no abnormal transportation situation occurs, the pointing object of the position point can be quickly determined by the default pointing first object, thereby improving the movement control efficiency of the movable module. By switching the object according to the abnormal transportation situation, the moving path of the movable module is variable, the flexibility of the movable module movement is improved, and it is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency. The operation pressure of the linear motor equipment is reduced through step decoupling, and the information processing efficiency and transportation efficiency are further improved.

[0441] The following will be combined with the attached Fig.31 , the control device of the linear motor device provided in the embodiment of the present application is introduced in detail. It should be noted that the attached Fig.31 The control device is used to execute the method of the embodiment shown in this application. For the convenience of explanation, only the parts related to the embodiment of this application are shown. For specific technical details not disclosed, please refer to the embodiment shown in this application.

[0442] See also Fig.31 , which shows a schematic diagram of the structure of a control device for a linear motor device provided by an exemplary embodiment of the present application. The control device for the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both. The control device is applied to the linear motor device, and the linear motor device is connected to the host computer. The configuration device 6 of the linear motor device includes a control instruction receiving unit 61, an instruction parsing unit 62 and a mover module control unit 63.

[0443] A control instruction receiving unit 61 is used to receive a control instruction sent by the host computer;

[0444] An instruction parsing unit 62 is used to determine a target position point and an object pointed to by the target position point based on the control instruction, wherein the target position point is determined based on the position information of the mover module, a plurality of the position points are distributed along the stator line, and the object pointed to by the target position point is determined based on the abnormal transportation information related to the target mover module and the first pointing information and the second pointing information corresponding to the target position point, wherein the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when an abnormal transportation situation occurs in the transportation scene, and the abnormal transportation information is used to indicate that an abnormal transportation situation is detected in the transportation scene;

[0445] The mover module control unit 63 is used to control the moving path of the target mover module corresponding to the target position point based on the target position point, the object pointed to by the target position point and the position information of the mover module.

[0446] In an embodiment of the present application, a control instruction sent by a host computer is received, and based on the control instruction, a target position point and an object pointed to by the target position point are determined, and based on the target position point, the object pointed to by the target position point and the position information of the mover module, the moving path of the target mover module corresponding to the target position point is controlled. By using the default first object pointed to, the pointing object of the position point can be quickly determined, thereby improving the moving control efficiency of the mover module, and switching objects according to abnormal conveying conditions makes the moving path of the mover module variable, thereby improving the flexibility of the mover module movement, and being more adaptable to complex and changeable working scenes, thereby improving transportation efficiency, and reducing the operational pressure of the linear motor equipment through step decoupling, further improving information processing efficiency and transportation efficiency.

[0447] It should be noted that the control device and configuration device of the linear motor device provided in the above embodiments only use the division of the above functional modules as an example when executing the control method of the linear motor device and the configuration method of the linear motor device. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the control device of the linear motor device provided in the above embodiments and the control method embodiment of the linear motor device, the configuration device of the linear motor device and the configuration method embodiment of the linear motor device belong to the same concept. The implementation process thereof is detailed in the method embodiment and will not be repeated here.

[0448] An embodiment of the present application also provides a computer storage medium, which can store multiple instructions, and the instructions are suitable for being loaded by a processor and executing the configuration method of the linear motor device and / or the control method of the linear motor device provided in any of the above embodiments. The specific execution process can be found in the specific description of the relevant embodiments, which will not be repeated here.

[0449] The present application also provides a computer program product, which stores at least one instruction, and the at least one instruction is loaded by the processor and executes the configuration method of the linear motor device and / or the control method of the linear motor device provided in any of the above-mentioned embodiments. The specific execution process can be referred to the specific description of the relevant embodiments, which will not be repeated here.

[0450] Please refer to Fig.32 , which shows a block diagram of the structure of an electronic device provided by an exemplary embodiment of the present application. The electronic device in the present application 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 via the bus 150.

[0451] The processor 110 may include one or more processing cores. The processor 110 uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions and processes data of the terminal 100 by running or executing instructions, programs, code sets or instruction sets stored in the memory 120, and calling data stored in the memory 120. Optionally, the processor 110 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 110 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user pages, and applications; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 110, but may be implemented separately through a communication chip.

[0452] The memory 120 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 120 includes a non-transitory computer-readable medium (Non-Transitory Computer-Readable Storage Medium). The memory 120 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 120 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.

[0453] The memory 120 can be divided into an operating system space and a user space. The operating system runs in the operating system space, and native and third-party applications run in the user space.

[0454] The input device 130 is used to receive input commands or data, and 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 commands or data, and includes but is not limited to a display device and a speaker. In one example, the input device 130 and the output device 140 can be combined, and the input device 130 and the output device 140 are touch screen displays.

[0455] The touch display screen can be designed as a full screen, a curved screen or a special-shaped screen. The touch display screen can also be designed as a combination of a full screen and a curved screen, or a combination of a special-shaped screen and a curved screen, which is not limited in the embodiments of the present application.

[0456] In addition, those skilled in the art will appreciate that the structure of the electronic device shown in the above drawings does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than shown, or combine certain components, or arrange the components differently. For example, the electronic device also includes a radio frequency circuit, an input unit, a sensor, an audio circuit, a wireless fidelity (WiFi) module, a power supply, a Bluetooth module and other components, which will not be described in detail here.

[0457] exist Fig.32 In the electronic device shown, the processor 110 can be used to call the configuration application of the linear motor device stored in the memory 120, and specifically perform the following operations:

[0458] Creating a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module;

[0459] Based on the conveying process information of the movable module, first pointing information and second pointing information are configured for at least part of the position points, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

[0460] In an embodiment of the present application, multiple position points are created, wherein the multiple position points are distributed along the stator line body, and the multiple position points are used to control the moving path of the moving submodule. Based on the conveying process information of the moving submodule, the first pointing information and the second pointing information are configured for at least some of the position points, wherein the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scene. The first pointing information and the second pointing information are configured for at least some of the position points through the conveying process information of the moving submodule, so that the position point configured with the second pointing information can switch the pointing object according to the conveying abnormality, and since multiple position points are used to control the moving path of the moving submodule, when no conveying abnormality occurs, the position point configured with the first pointing information defaults to the first object, so that the pointing object of the position point can be quickly determined, thereby improving the moving control efficiency of the moving submodule, and switching the pointing object according to the conveying abnormality makes the moving path of the moving submodule variable, improves the flexibility of the moving submodule, and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency.

[0461] exist Fig.32 In the electronic device shown, the processor 110 can be used to call the control application of the linear motor device stored in the memory 120, and specifically perform the following operations:

[0462] Based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line;

[0463] When the transportation abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transportation abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transportation abnormality occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene;

[0464] Based on the pointing object of the target position point, the moving path of the moving submodule is controlled.

[0465] In an embodiment of the present application, based on the position information of the mover module, the mover module and the position point with a position correspondence relationship are determined to obtain the target mover module and the target position point. When the transport abnormality information related to the target mover module is obtained, if the target position point is configured with the second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transport abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, and based on the pointing object of the target position point, the moving path of the mover module is controlled. By combining the first pointing information and the second pointing information configured for at least part of the position points, the pointing object switching is realized according to the transport abnormality situation, and since multiple position points are used to control the moving path of the mover module, when no transport abnormality occurs, the pointing object of the position point can be quickly determined by the default pointing first object, thereby improving the moving control efficiency of the mover module, and switching the object according to the transport abnormality makes the moving path of the mover module variable, improves the flexibility of the movement of the mover module, and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency.

[0466] exist Fig.32 In the electronic device shown, the processor 110 can be used to call the control application of the linear motor device stored in the memory 120, and specifically perform the following operations:

[0467] Based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line;

[0468] When the transportation abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transportation abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transportation abnormality occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene;

[0469] Based on the pointing object of the target position point, the moving path of the moving submodule is controlled.

[0470] In the control scheme provided in the embodiment of the present application, based on the position information of the movable sub-module, the movable sub-module and the position point with a position correspondence relationship are determined to obtain the target movable sub-module and the target position point. When the conveying abnormality information related to the target movable sub-module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information; otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object. Based on the pointing object of the target position point, the moving path of the movable sub-module is controlled. By combining the first pointing information and the second pointing information configured for at least part of the position points, the switching of the pointing object is achieved according to the abnormal transportation situation. Since multiple position points are used to control the moving path of the movable module, when no abnormal transportation situation occurs, the pointing object of the position point can be quickly determined by the default pointing first object, thereby improving the movement control efficiency of the movable module. By switching the object according to the abnormal transportation situation, the moving path of the movable module is variable, the flexibility of the movable module movement is improved, and it is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency. The operation pressure of the linear motor equipment is reduced through step decoupling, and the information processing efficiency and transportation efficiency are further improved.

[0471] exist Fig.32 In the electronic device shown, the processor 110 can be used to call the control application of the linear motor device stored in the memory 120, and specifically perform the following operations:

[0472] Receiving control instructions sent by the host computer;

[0473] Based on the control instruction, determine a target position point and an object to which the target position point points, wherein the target position point is determined based on the position information of the mover module, a plurality of the position points are distributed along the stator line, and the object to which the target position point points is determined based on the abnormal transportation information related to the target mover module and the first and second pointing information corresponding to the target position point, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that when an abnormal transportation situation occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that an abnormal transportation situation has been detected in the transportation scene;

[0474] Based on the target position point, the object pointed by the target position point and the position information of the mover module, a moving path of the target mover module corresponding to the target position point is controlled.

[0475] In an embodiment of the present application, a control instruction sent by a host computer is received, and based on the control instruction, a target position point and an object pointed to by the target position point are determined, and based on the target position point, the object pointed to by the target position point and the position information of the mover module, the moving path of the target mover module corresponding to the target position point is controlled. By using the default first object pointed to, the pointing object of the position point can be quickly determined, thereby improving the moving control efficiency of the mover module, and switching objects according to abnormal conveying conditions makes the moving path of the mover module variable, thereby improving the flexibility of the mover module movement, and being more adaptable to complex and changeable working scenes, thereby improving transportation efficiency, and reducing the operational pressure of the linear motor equipment through step decoupling, further improving information processing efficiency and transportation efficiency.

[0476] The electronic device in the present application may include one or more of the following components: a processor 210, a memory 220, an input device 230, an output device 240, and a bus 250. The processor 210, the memory 220, the input device 230, and the output device 240 may be connected via the bus 250. For the relevant structure of the electronic device, please refer to Fig.32 .

[0477] The processor 210 may include one or more processing cores. The processor 210 uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions and processes data of the electronic device 200 by running or executing instructions, programs, code sets or instruction sets stored in the memory 220, and calling data stored in the memory 220. Optionally, the processor 210 can be implemented in at least one hardware form of DSP, FPGA, and PLA. The processor 210 can integrate one or a combination of CPU, GPU, modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to handle wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 210, but may be implemented separately through a communication chip.

[0478] The memory 220 may include RAM or ROM. Optionally, the memory 220 includes a non-transient computer-readable medium. The memory 220 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 220 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The operating system may be an Android system, including a system deeply developed based on the Android system, an IOS system developed by Apple, including a system deeply developed based on the IOS system or other systems. The data storage area may also store data created by the electronic device during use, such as a phone book, audio and video data, chat record data, etc.

[0479] The memory 220 can be divided into an operating system space and a user space. The operating system runs in the operating system space, and native and third-party applications run in the user space. In order to ensure that different third-party applications can achieve good operating results, the operating system allocates corresponding system resources to different third-party applications. However, the requirements for system resources in different application scenarios in the same third-party application are also different. For example, in the local resource loading scenario, the third-party application has higher requirements for disk reading speed; in the animation rendering scenario, the third-party application has higher requirements for GPU performance. The operating system and third-party applications are independent of each other, and the operating system often cannot perceive the current application scenario of the third-party application in a timely manner, resulting in the operating system being unable to perform targeted system resource adaptation according to the specific application scenario of the third-party application.

[0480] In order for the operating system to distinguish the specific application scenarios of third-party applications, it is necessary to open up data communication between third-party applications and the operating system so that the operating system can obtain the current scenario information of third-party applications at any time, and then perform targeted system resource adaptation based on the current scenario.

[0481] The input device 230 is used to receive input commands or data, and includes but is not limited to a keyboard, a mouse, a camera, a microphone, or a touch device. The output device 240 is used to output commands or data, and includes but is not limited to a display device and a speaker. In one example, the input device 230 and the output device 240 can be combined, and the input device 230 and the output device 240 are touch screen displays.

[0482] The touch display screen can be designed as a full screen, a curved screen or a special-shaped screen. The touch display screen can also be designed as a combination of a full screen and a curved screen, or a combination of a special-shaped screen and a curved screen, which is not limited in the embodiments of the present application.

[0483] In addition, those skilled in the art can understand that the structure of the electronic device shown in the above drawings does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than shown, or combine certain components, or arrange the components differently. For example, the electronic device also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a WiFi module, a power supply, and a Bluetooth module, which will not be described in detail here.

[0484] exist Fig.32 In the electronic device shown, the processor 210 can be used to call the configuration application of the linear motor device stored in the memory 220, and specifically perform the following operations:

[0485] Creating a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module;

[0486] Based on the conveying process information of the movable module, first pointing information and second pointing information are configured for at least part of the position points, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

[0487] In an embodiment of the present application, a host computer creates multiple position points, wherein the multiple position points are distributed along the stator line, and the multiple position points are used to control the moving path of the mover module. Based on the conveying process information of the mover module, first pointing information and second pointing information are configured for at least some of the position points, wherein the first pointing information is used to indicate that the position point initially points to the first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when an abnormal conveying situation occurs in the transportation scenario. The first pointing information and the second pointing information are configured for at least part of the position points through the conveying process information of the movable module, so that the position points configured with the second pointing information can switch the pointing object according to the abnormal conveying situation. Since multiple position points are used to control the moving path of the movable module, when no abnormal conveying situation occurs, the position point configured with the first pointing information points to the first object by default, so that the pointing object of the position point can be quickly determined, thereby improving the movement control efficiency of the movable module. The pointing object is switched according to the abnormal conveying situation, so that the moving path of the movable module has variability, which improves the flexibility of the movable module movement and is more adaptable to complex and changeable working scenes, thereby improving the transportation efficiency. The computing load of the host computer and the linear motor equipment is reduced through step decoupling, and the computing speed and transportation efficiency are further improved.

[0488] exist Fig.32 In the electronic device shown, the processor 210 can be used to call the control application of the linear motor device stored in the memory 220, and specifically perform the following operations:

[0489] Based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line;

[0490] When the transportation abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transportation abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transportation abnormality occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene;

[0491] A control instruction is generated based on the pointing object of the target position point, and the control instruction is sent to the linear motor device to control the moving path of the mover module.

[0492] In an embodiment of the present application, the upper computer determines the mover module and the position point that have a position correspondence relationship based on the position information of the mover module, obtains the target mover module and the target position point, and when the conveying abnormality information related to the target mover module is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the conveying abnormality information, otherwise, based on the first pointing information configured at the position point, the pointing object of the target position point is determined to be the first object, a control instruction is generated based on the pointing object of the target position point and the control instruction is sent to the linear motor device, and the linear motor device determines the target position point and the pointing object of the target position point based on the control instruction, and controls the moving path of the target mover module corresponding to the target position point based on the target position point, the pointing object of the target position point and the position information of the mover module. By using the default first object, the pointing object of the position point can be quickly determined, thereby improving the movement control efficiency of the mover module. By switching objects according to abnormal transportation conditions, the movement path of the mover module is variable, thereby improving the flexibility of the movement of the mover module and being more adaptable to complex and changeable working scenarios, thereby improving transportation efficiency. The computational pressure of the linear motor equipment is reduced through step decoupling, further improving information processing efficiency and transportation efficiency.

[0493] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0494] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

[0495] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of this specification are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions. For example, the transportation process information involved in this specification is obtained with full authorization.

Claims

1. A method for configuring a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario, the linear motor device comprises a mover module and a stator line body, and the method comprises: Creating a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module; Based on the conveying process information of the movable module, first pointing information and second pointing information are configured for at least part of the position points, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

2. The method according to claim 1, characterized in that The configuration of corresponding first orientation information and second orientation information for at least part of the position points based on the conveying process information of the moving submodule includes: Based on the normal conveying processing flow information of the moving submodule, configuring a first object with an initial pointing direction for at least part of the position points, wherein the first object is selected from the plurality of the position points; Based on the abnormal conveying processing flow information of the movable module, a first switching condition and a second object corresponding to the first switching condition are configured for at least part of the position points, the first switching condition is set based on the abnormal conveying situation, and the first switching condition is used to indicate that when it is determined that the abnormal conveying situation occurs, the position point switches from pointing to the first object to pointing to the second object, and the second object is a position point among the multiple position points that has not been selected as the first object.

3. The method according to claim 1, characterized in that The method further comprises: Based on the conveying process information of the mover module, corresponding pointing recovery information is configured for at least part of the position points, and the pointing recovery information is used to indicate that the position point switches from pointing to the second object back to pointing to the first object after the conveying abnormality is resolved.

4. The method according to claim 3, characterized in that: The step of configuring corresponding pointing recovery information for at least part of the position points based on the conveying process information of the moving submodule includes: Based on the abnormal transport release process information of the moving submodule, a second switching condition is configured for at least part of the position points, and the second switching condition is used to determine whether the abnormal transport situation is released, and when it is determined that the abnormal transport situation is released, instruct the position point to switch from pointing to the second object back to pointing to the first object.

5. The method according to claim 3, characterized in that: Based on the conveying process information of the moving submodule, corresponding first orientation information and second orientation information are configured for at least part of the position points, including: Based on the conveying process information of the mover module, determining a switchable position point among the plurality of position points; Corresponding first pointing information, second pointing information and pointing recovery information are configured for each of the switchable position points, wherein the first object indicated by the first pointing information is a switchable position point or a non-switching position point, and the second object indicated by the second pointing information is a switchable position point or a non-switching position point.

6. The method according to claim 1, characterized in that The method further comprises: Corresponding attribute information is configured for each of the location points, and the attribute information includes at least one of level information and primary and secondary information.

7. The method according to any one of claims 1 to 6, characterized in that: The configuring corresponding attribute information for each of the location points includes: Configuring attribute information including first-level information for at least one of the location points to obtain a first-level location point; Taking the primary location point as a reference, attribute information including second-level information is relatively configured for at least one of the location points to obtain a secondary location point, wherein the use status of the secondary location point is linked to the use status of the primary location point.

8. The method according to claim 7, characterized in that The method further comprises: In response to the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information and the use status of the location point indicated by the location point modification instruction is modified.

9. The method according to claim 8, characterized in that The method further comprises: When at least one of a deletion modification operation, a level modification operation and a primary-replacement modification operation is performed on the indicated location point based on the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information and the usage status of the relevant location point is changed.

10. The method according to claim 1, characterized in that The step of configuring the first orientation information and the second orientation information for at least part of the position points based on the conveying process information of the moving submodule includes: Based on the conveying process information of the mover module, corresponding first orientation information and second orientation information are configured for position points located in different stator segments.

11. A control method for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario, the linear motor device comprises a mover module and a stator line body, and the method comprises: Based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line; When the transportation abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transportation abnormality information, otherwise, based on the first pointing information configured for the target position point, the pointing object of the target position point is determined to be the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transportation abnormality occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene; Based on the pointing object of the target position point, the moving path of the moving submodule is controlled.

12. The method according to claim 11, characterized in that The method further comprises: In the received conveying monitoring information, conveying abnormality information related to the target mover module is determined, and the conveying monitoring information is sent by the conveying monitoring device.

13. The method according to claim 12, characterized in that When the transport abnormality information related to the target moving submodule is obtained, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transport abnormality information, otherwise, based on the first pointing information configured at the position point, determining that the pointing object of the target position point is the first object, includes: When the transport abnormality information related to the target movable submodule is obtained, if the target position point is configured with the second pointing information, the second object corresponding to the transport abnormality information is determined based on the first switching condition included in the second pointing information and the second object corresponding to the first switching condition, and is used as the pointing object of the target position point, wherein the first switching condition is set based on the transport abnormality, and the first switching condition is used to indicate that the position point switches from pointing to the first object to pointing to the second object when it is determined that the transport abnormality occurs, and the second object is a position point among the multiple position points that is not selected as the first object; When the transport abnormality information related to the target movable module is obtained, if the target position point is not configured with the second pointing information, the pointing object of the target position point is determined to be the first object based on the first pointing information configured for the target position point, wherein the first object is selected from the multiple position points.

14. The method according to claim 12, characterized in that The method further comprises: When the exception resolution information corresponding to the transport exception information is obtained, if the target position point is configured with the pointing recovery information corresponding to the exception resolution information, it is determined that the pointing object of the target position point is restored to the first object, and the pointing recovery information is used to indicate that after the transport exception is resolved, the target position point switches from pointing to the second object back to pointing to the first object.

15. The method according to claim 14, characterized in that When the abnormality release information corresponding to the abnormality information is acquired, if the location point is configured with the pointing recovery information corresponding to the abnormality release information, determining that the pointing object of the target location point is restored to the first object includes: When the exception resolution information corresponding to the transport exception information is obtained, if the location point is configured with the pointing recovery information corresponding to the exception resolution information, then based on the first object corresponding to the second switching condition included in the pointing recovery information, the first object corresponding to the exception resolution information is determined and used as the pointing object of the target location point, wherein the second switching condition is used to determine whether the transport exception is resolved, and when it is determined that the transport exception is resolved, instructs the target location point to switch from pointing to the second object back to pointing to the first object.

16. The method according to claim 11 or 14, characterized in that The method further comprises: Acquire configuration information of the location point, wherein the configuration information includes first pointing information or the configuration information includes first pointing information, second pointing information and pointing recovery information.

17. The method according to claim 16, characterized in that The configuration information of the location point also includes attribute information, and the attribute information includes at least one of level information and primary and secondary information.

18. The method according to claim 17, characterized in that The multiple location points include primary location points and secondary location points, and the secondary location points are relatively configured with respect to the primary location points, wherein the primary location point is a location point whose attribute information includes first-level information, and the secondary location point is a location point whose attribute information includes second-level information, and the usage status of the secondary location point is linked to the usage status of the primary location point.

19. The method according to claim 17, characterized in that The method further comprises: In response to the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information and the use status of the location point indicated by the location point modification instruction is modified.

20. The method according to claim 19, characterized in that The method further comprises: When at least one of a deletion modification operation, a level modification operation and a primary-replacement modification operation is performed on the indicated location point based on the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information and the usage status of the relevant location point is changed.

21. The method according to claim 11, characterized in that The controlling the moving path of the moving submodule based on the pointing object of the target position point comprises: Based on the pointing object of the target position point, the mover module is controlled to move to different stator segments.

22. A method for configuring a linear motor device, characterized in that: The method is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the method includes: Creating a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module; Based on the conveying process information of the movable module, first pointing information and second pointing information are configured for at least part of the position points, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

23. The method according to claim 22, characterized in that The step of configuring the first orientation information and the second orientation information for at least part of the position points based on the conveying process information of the moving submodule includes: Based on the normal conveying processing flow information of the moving submodule, configuring a first object with an initial pointing direction for at least part of the position points, wherein the first object is selected from the plurality of the position points; Based on the abnormal conveying processing flow information of the movable module, a first switching condition and a second object corresponding to the first switching condition are configured for at least part of the position points, the first switching condition is set based on the abnormal conveying situation, and the first switching condition is used to indicate that when it is determined that the abnormal conveying situation occurs, the position point switches from pointing to the first object to pointing to the second object, and the second object is a position point among the multiple position points that has not been selected as the first object.

24. The method according to claim 22, characterized in that The method further comprises: Based on the conveying process information of the mover module, corresponding pointing recovery information is configured for at least part of the position points, and the pointing recovery information is used to indicate that the position point switches from pointing to the second object back to pointing to the first object after the conveying abnormality is resolved.

25. The method according to claim 24, characterized in that The step of configuring corresponding pointing recovery information for at least part of the position points based on the conveying process information of the moving submodule includes: Based on the abnormal conveying processing flow information of the movable module, a second switching condition is configured for at least part of the position points, and the second switching condition is used to determine whether the abnormal conveying situation is resolved, and when it is determined that the abnormal conveying situation is resolved, instruct the position point to switch from pointing to the second object back to pointing to the first object.

26. The method according to claim 24, characterized in that The step of configuring the first orientation information and the second orientation information for at least part of the position points based on the conveying process information of the moving submodule includes: Based on the conveying process information of the mover module, determining a switchable position point among the plurality of position points; Corresponding first pointing information, second pointing information and pointing recovery information are configured for each of the switchable position points, wherein the first object indicated by the first pointing information is a switchable position point or a non-switching position point, and the second object indicated by the second pointing information is a switchable position point or a non-switching position point.

27. The method according to claim 22 or 24, characterized in that The method further comprises: The configuration information of the position point is sent to the linear motor device for use by the linear motor device, wherein the configuration information includes the first orientation information, or the configuration information includes the first orientation information, the second orientation information and orientation recovery information.

28. The method according to claim 22, characterized in that The method further comprises: Corresponding attribute information is configured for each of the location points, and the attribute information includes at least one of level information and primary and secondary information.

29. The method according to any one of claims 22 to 26, characterized in that The configuring corresponding attribute information for each of the location points includes: Configuring attribute information including first-level information for at least one of the location points to obtain a first-level location point; Taking the primary location point as a reference, attribute information including second-level information is relatively configured for at least one of the location points to obtain a secondary location point, wherein the use status of the secondary location point is linked to the use status of the primary location point.

30. The method according to claim 28, characterized in that The method further comprises: In response to the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information and the use status of the location point indicated by the location point modification instruction is modified.

31. The method according to claim 30, characterized in that The method further comprises: When at least one of a deletion modification operation, a level modification operation and a primary-replacement modification operation is performed on the indicated location point based on the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information and the usage status of the relevant location point is changed.

32. The method according to claim 22, characterized in that The step of configuring the first orientation information and the second orientation information for at least part of the position points based on the conveying process information of the moving submodule includes: Based on the conveying process information of the mover module, corresponding first orientation information and second orientation information are configured for position points located in different stator segments.

33. A control method for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario, the linear motor device is connected to a host computer, and the linear motor device includes a mover module and a stator line body, and the method includes: Based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line; When the transportation abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transportation abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transportation abnormality occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene; Based on the pointing object of the target position point, the moving path of the moving submodule is controlled.

34. The method according to claim 33, characterized in that The method further comprises: In the received conveying monitoring information, conveying abnormality information related to the target mover module is determined, and the conveying monitoring information is sent by the conveying monitoring device or the host computer.

35. The method according to claim 33, characterized in that When the transport abnormality information related to the target moving submodule is obtained, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transport abnormality information, otherwise, based on the first pointing information configured at the position point, determining that the pointing object of the target position point is the first object, includes: When the transport abnormality information related to the target movable submodule is obtained, if the target position point is configured with the second pointing information, the second object corresponding to the transport abnormality information is determined based on the first switching condition included in the second pointing information and the second object corresponding to the first switching condition, and is used as the pointing object of the target position point, wherein the first switching condition is set based on the transport abnormality, and the first switching condition is used to indicate that the position point switches from pointing to the first object to pointing to the second object when it is determined that the transport abnormality occurs, and the second object is a position point among the multiple position points that is not selected as the first object; When the conveying abnormality information related to the target movable module is obtained, if the target position point is not configured with the second pointing information, the pointing object of the target position point is determined to be the first object based on the first pointing information configured at the position point, wherein the first object is selected from multiple position points, and the second object is a position point among the multiple position points that is not selected as the first object.

36. The method according to claim 33, characterized in that The method further comprises: When the exception resolution information corresponding to the transport exception information is obtained, if the position point is configured with the pointing recovery information corresponding to the exception resolution information, it is determined that the pointing object of the target position point is restored to the first object, and the pointing recovery information is used to indicate that after the transport exception is resolved, the position point switches from pointing to the second object back to pointing to the first object.

37. The method according to claim 36, characterized in that When the abnormality release information corresponding to the abnormality information is acquired, if the location point is configured with the pointing recovery information corresponding to the abnormality release information, determining that the pointing object of the target location point is restored to the first object includes: When the exception resolution information corresponding to the transport exception information is obtained, if the location point is configured with the pointing recovery information corresponding to the exception resolution information, then based on the first object corresponding to the second switching condition included in the pointing recovery information, the first object corresponding to the exception resolution information is determined and used as the pointing object of the target location point, wherein the second switching condition is used to determine whether the transport exception is resolved, and when it is determined that the transport exception is resolved, instructs the location point to switch from pointing to the second object back to pointing to the first object.

38. The method according to claim 33 or 36, characterized in that The method further comprises: Receive configuration information of multiple location points sent by the host computer, wherein the configuration information includes first pointing information or the configuration information includes first pointing information, second pointing information and pointing recovery information.

39. The method according to claim 38, characterized in that The configuration information of the location point also includes attribute information, and the attribute information includes at least one of level information and primary and secondary information.

40. The method according to claim 38, characterized in that The multiple location points include primary location points and secondary location points, and the secondary location points are relatively configured with respect to the primary location points, wherein the primary location point is a location point whose attribute information includes first-level information, and the secondary location point is a location point whose attribute information includes second-level information, and the usage status of the secondary location point is linked to the usage status of the primary location point.

41. The method according to claim 39, characterized in that The method further comprises: Receiving a position point modification instruction sent by the host computer; In response to the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information and the use status of the location point indicated by the location point modification instruction is modified.

42. The method according to claim 41, characterized in that The method further comprises: When at least one of a deletion modification operation, a level modification operation and a primary-replacement modification operation is performed on the indicated location point based on the location point modification instruction, at least one of the attribute information, the first pointing information, the second pointing information and the usage status of the relevant location point is changed.

43. The method according to claim 33, characterized in that The controlling the moving path of the moving submodule based on the pointing object of the target position point comprises: Based on the pointing object of the target position point, the mover module is controlled to move to different stator segments.

44. A control method for a linear motor device, characterized in that: The method is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the method includes: Based on the position information of the mover module, determine the mover module and the position point having a position correspondence relationship, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line; When the transportation abnormality information related to the target movable submodule is obtained, if the target position point is configured with second pointing information, the pointing object of the target position point is determined to be the second object corresponding to the transportation abnormality information, otherwise, based on the first pointing information configured for the position point, the pointing object of the target position point is determined to be the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transportation abnormality occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that the transportation abnormality is detected in the transportation scene; A control instruction is generated based on the pointing object of the target position point, and the control instruction is sent to the linear motor device to control the moving path of the mover module.

45. The method according to claim 44, characterized in that The method further comprises: In the received conveying monitoring information, conveying abnormality information related to the target mover module is determined, and the conveying monitoring information is sent by the conveying monitoring device or the linear motor equipment.

46. ​​The method according to claim 44, characterized in that When the transport abnormality information related to the target moving submodule is obtained, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transport abnormality information, otherwise, based on the first pointing information configured at the position point, determining that the pointing object of the target position point is the first object, includes: When the transport abnormality information related to the target movable submodule is obtained, if the target position point is configured with the second pointing information, the second object corresponding to the transport abnormality information is determined based on the first switching condition included in the second pointing information and the second object corresponding to the first switching condition, and is used as the pointing object of the target position point, wherein the first switching condition is set based on the transport abnormality, and the first switching condition is used to indicate that the position point switches from pointing to the first object to pointing to the second object when it is determined that the transport abnormality occurs, and the second object is a position point among the multiple position points that is not selected as the first object; When the conveying abnormality information related to the target movable module is obtained, if the target position point is not configured with the second pointing information, the pointing object of the target position point is determined to be the first object based on the first pointing information configured at the position point, wherein the first object is selected from multiple position points, and the second object is a position point among the multiple position points that is not selected as the first object.

47. The method according to claim 44, characterized in that The method further comprises: When the exception resolution information corresponding to the transport exception information is obtained, if the position point is configured with the pointing recovery information corresponding to the exception resolution information, it is determined that the pointing object of the target position point is restored to the first object, and the pointing recovery information is used to indicate that after the transport exception is resolved, the position point switches from pointing to the second object back to pointing to the first object.

48. The method according to claim 44, characterized in that When the abnormality release information corresponding to the abnormality information is acquired, if the location point is configured with the pointing recovery information corresponding to the abnormality release information, determining that the pointing object of the target location point is restored to the first object includes: When the exception resolution information corresponding to the transport exception information is obtained, if the location point is configured with the pointing recovery information corresponding to the exception resolution information, then based on the first object corresponding to the second switching condition included in the pointing recovery information, the first object corresponding to the exception resolution information is determined and used as the pointing object of the target location point, wherein the second switching condition is used to determine whether the transport exception is resolved, and when it is determined that the transport exception is resolved, instructs the location point to switch from pointing to the second object back to pointing to the first object.

49. The method according to claim 44 or 47, characterized in that The method further comprises: Acquire configuration information of the location point, wherein the configuration information includes first pointing information or the configuration information includes first pointing information, second pointing information and pointing recovery information.

50. The method according to claim 49, characterized in that The configuration information of the location point also includes attribute information, and the attribute information includes at least one of level information and primary and secondary information.

51. The method according to claim 49, characterized in that The multiple location points include primary location points and secondary location points, and the secondary location points are relatively configured with respect to the primary location points, wherein the primary location point is a location point whose attribute information includes first-level information, and the secondary location point is a location point whose attribute information includes second-level information, and the usage status of the secondary location point is linked to the usage status of the primary location point.

52. The method according to claim 51, characterized in that The method further comprises: A position point modification instruction is generated and sent to the linear motor device, wherein the position point modification instruction is used to modify at least one of the attribute information, the first orientation information, the second orientation information and the use status of the indicated position point.

53. The method according to claim 52, characterized in that The location point modification instruction is also used to change at least one of the attribute information, first pointing information, second pointing information and usage status of the relevant location point when at least one of the deletion modification operation, level modification operation and primary replacement modification operation is performed on the indicated location point based on the location point modification instruction.

54. The method according to claim 44, characterized in that The generating of a control instruction based on the pointing object of the target position point and sending the control instruction to the linear motor device to control the moving path of the mover module includes: A control instruction is generated based on the pointing object of the target position point, and the control instruction is sent to the linear motor device to control the mover module to move to different stator segments.

55. A control method for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario, the linear motor device is connected to a host computer, and the linear motor device includes a mover module and a stator line body, and the method includes: Receiving control instructions sent by the host computer; Based on the control instruction, determine a target position point and an object to which the target position point points, wherein the target position point is determined based on the position information of the mover module, a plurality of the position points are distributed along the stator line, and the object to which the target position point points is determined based on the abnormal transportation information related to the target mover module and the first and second pointing information corresponding to the target position point, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that when an abnormal transportation situation occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that an abnormal transportation situation has been detected in the transportation scene; Based on the target position point, the object pointed by the target position point and the position information of the mover module, a moving path of the target mover module corresponding to the target position point is controlled.

56. A configuration device for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario, the linear motor device comprises a mover module and a stator line body, and the configuration device comprises: A position point creation unit, used to create a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module; A pointing information configuration unit is used to configure first pointing information and second pointing information for at least part of the position points based on the conveying process information of the movable module, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

57. A control device for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario. The linear motor device includes a mover module and a stator line body. The control device includes: A target determination unit, used to determine the mover module and the position point having a position correspondence relationship based on the position information of the mover module, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line; a pointing object determination unit, for, when the transport abnormality information related to the target moving submodule is acquired, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured for the position point, determining that the pointing object of the target position point is the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transport abnormality occurs in the transport scene, the position point switches from pointing to the first object to pointing to the second object, and the transport abnormality information is used to indicate that a transport abnormality is detected in the transport scene; The mover module control unit is used to control the moving path of the mover module based on the pointing object of the target position point.

58. A configuration device for a linear motor device, characterized in that: The device is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the configuration device includes: A position point creation unit, used to create a plurality of position points, wherein the plurality of position points are distributed along the stator line, and the plurality of position points are used to control the moving path of the mover module; A pointing information configuration unit is used to configure first pointing information and second pointing information for at least part of the position points based on the conveying process information of the movable module, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that the position point switches from pointing to the first object to pointing to the second object when a conveying abnormality occurs in the transportation scenario.

59. A control device for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario. The linear motor device includes a mover module and a stator line body. The control device is used to control the mover module and the control device is connected to a host computer. The control device includes: A target determination unit, used to determine the mover module and the position point having a position correspondence relationship based on the position information of the mover module, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line; a pointing object determination unit, for, when the transport abnormality information related to the target moving submodule is acquired, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured for the position point, determining that the pointing object of the target position point is the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transport abnormality occurs in the transport scene, the position point switches from pointing to the first object to pointing to the second object, and the transport abnormality information is used to indicate that a transport abnormality is detected in the transport scene; The mover module control unit is used to control the moving path of the mover module based on the pointing object of the target position point.

60. A control device for a linear motor device, characterized in that: The device is applied to a host computer, the host computer is connected to the linear motor device, the linear motor device is applied to a transportation scenario, the linear motor device includes a mover module and a stator line body, and the control device includes: A target determination unit, used to determine the mover module and the position point having a position correspondence relationship based on the position information of the mover module, and obtain the target mover module and the target position point, wherein a plurality of the position points are distributed along the stator line; a pointing object determination unit, for, when the transport abnormality information related to the target moving submodule is acquired, if the target position point is configured with second pointing information, determining that the pointing object of the target position point is the second object corresponding to the transport abnormality information; otherwise, based on the first pointing information configured for the position point, determining that the pointing object of the target position point is the first object, wherein the first pointing information is used to indicate that the position point initially points to the first object, the second pointing information is used to indicate that when a transport abnormality occurs in the transport scene, the position point switches from pointing to the first object to pointing to the second object, and the transport abnormality information is used to indicate that a transport abnormality is detected in the transport scene; A control instruction sending unit is used to generate a control instruction based on the pointing object of the target position point, and send the control instruction to the linear motor device to control the moving path of the mover module.

61. A control device for a linear motor device, characterized in that: The linear motor device is applied to a transportation scenario. The linear motor device includes a mover module and a stator line body. The control device is used to control the mover module and the control device is connected to a host computer. The control device includes: A control instruction receiving unit, used for receiving a control instruction sent by the host computer; An instruction parsing unit is used to determine a target position point and an object pointed to by the target position point based on the control instruction, wherein the target position point is determined based on the position information of the mover module, a plurality of the position points are distributed along the stator line, and the object pointed to by the target position point is determined based on the abnormal transportation information related to the target mover module and the first and second pointing information corresponding to the target position point, wherein the first pointing information is used to indicate that the position point initially points to a first object, and the second pointing information is used to indicate that when an abnormal transportation situation occurs in the transportation scene, the position point switches from pointing to the first object to pointing to the second object, and the transportation abnormality information is used to indicate that an abnormal transportation situation has been detected in the transportation scene; A mover module control unit is used to control a moving path of a target mover module corresponding to the target position point based on the target position point, the object pointed to by the target position point and the position information of the mover module.

62. A computer storage medium, characterized in that The computer storage medium stores a plurality of instructions, which are suitable for being loaded by a processor and executing the method steps of any one of claims 1 to 10, 11 to 21, 22 to 32, 33 to 43, 44 to 54 and 55.

63. An electronic device, characterized in that: include: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the method steps of any one of claims 1 to 10, 11 to 21, 22 to 32, 33 to 43, 44 to 54 and 55.

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