Linear motor equipment, control method and device thereof and readable storage medium

Abstract

The invention provides a linear motor device, a control method and device thereof and a readable storage medium, the linear motor device comprises a plurality of rotor modules and a stator wire body, a plurality of operation devices are distributed around the stator wire body, and each rotor module moves along the stator wire body and passes through each operation device. The method comprises the steps that when it is detected that a mover module moves to a target position corresponding to target equipment, transmission historical information corresponding to the mover module is acquired, and an acquisition result is obtained; wherein the transmission historical information is obtained based on a transmission related operation experienced by the mover module before the mover module moves to the target position, and the target device is an operation device currently facing the mover module in the multiple operation devices; and judging whether the rotor module cooperates with the target equipment or not based on an acquisition result of the transmission historical information. According to the method, the influence of operation equipment with long operation time on conveying can be reduced, so that the conveying efficiency of the mover module is improved, and the production efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of transportation control technology, and in particular to a linear motor device and a control method, device and readable storage medium thereof. Background Art

[0002] In existing automated production systems, mechanical transmission equipment (such as belt conveyors) is used to transport objects, and operating equipment for performing corresponding processing operations is provided in different links (such as loading link, processing link, unloading link, etc.).

[0003] The conveying efficiency of mechanical transmission equipment is affected by operating equipment with a long single operation time. Since mechanical transmission equipment uses a conveying component (such as a conveyor belt component) to transport the entire process, operating equipment with a long single operation time will indirectly affect the operating efficiency of other operating equipment, resulting in a decrease in the production efficiency of the automated production system. Summary of the invention

[0004] The present application provides a linear motor device and a control method, apparatus and readable storage medium thereof, which can reduce the impact of operating equipment with a long operating time on transportation, thereby improving the transportation efficiency of the mover module, and further improving production efficiency.

[0005] In a first aspect, a control method for a linear motor device is provided, wherein the linear motor device comprises a plurality of mover modules and a stator line body, a plurality of operating devices are distributed around the stator line body, each mover module moves along the stator line body and passes through each operating device, and each mover module is independently controlled; the control method comprises: when it is detected that the mover module moves to a target position corresponding to a target device, acquiring conveying history information corresponding to the mover module and obtaining an acquisition result; wherein the conveying history information is obtained based on conveying-related operations experienced by the mover module before moving to the target position, and the target device is the operating device currently facing the mover module among the plurality of operating devices; based on the acquisition result of the conveying history information, judging whether the mover module cooperates with the target device.

[0006] In a second aspect, a control device for a linear motor device is provided, the linear motor device comprising:

[0007] A plurality of movable submodules and a stator line body, a plurality of operating devices are distributed around the stator line body, each movable submodule moves along the stator line body and passes through each operating device, and each movable submodule is independently controlled; the control device comprises: an acquisition unit, for acquiring the conveying history information corresponding to the movable submodule and obtaining an acquisition result when it is detected that the movable submodule moves to a target position corresponding to a target device; wherein the conveying history information is obtained based on the conveying-related operations experienced by the movable submodule before moving to the target position, and the target device is the operating device currently facing the movable submodule among the plurality of operating devices; a judgment unit, for judging whether the movable submodule cooperates with the target device based on the acquisition result of the conveying history information.

[0008] In a third aspect, a linear motor device is provided, comprising: a plurality of mover modules, a stator wire body and a control device; a plurality of operating devices are distributed around the stator wire body; each of the mover modules moves along the stator wire body and passes through each of the operating devices; the control device is used to execute the control method of the linear motor device described in the first aspect.

[0009] In a fourth aspect, a computer-readable storage medium is provided, in which at least one program code is stored, and the program code is loaded and executed by a processor to implement the operations performed by the control method of the linear motor device.

[0010] In the technical solution provided in the embodiment of the present application, since the conveying history information corresponding to the mover module is obtained based on the conveying-related operations experienced by the mover module before moving to the target position corresponding to the target device, it can characterize the operation conditions of the conveying-related operations previously experienced by the mover module, so that by obtaining the conveying history information corresponding to the mover module, the historical operation conditions of the mover module can be traced. Therefore, based on the acquisition result of the conveying history information, it is beneficial to accurately judge whether the mover module needs to cooperate with the current target device according to the historical operation conditions traced by the mover module, and avoid the mover module from cooperating with unnecessary target devices, thereby saving conveying time. In addition, since the multiple mover modules of the linear motor device are independently controlled, that is, the movement control of one mover module can be free from the movement control constraints of another mover module, the movement strokes of different mover modules can be flexibly controlled according to the conveying history information acquisition results of the mover modules that reach the target position at different times, so as to ensure that each mover module cooperates with the necessary target device. Therefore, the technical solution provided in the embodiment of the present application can improve the conveying efficiency of the mover module, and thus improve the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a scenario schematic diagram of a control method for a linear motor device provided in an embodiment of the present application;

[0012] Figure 2 is a schematic flow chart of a control method of a linear motor device provided in an embodiment of the present application;

[0013] Figure 3 is a schematic diagram of a normal operation process of a mover module in an automated production system involving a cutting process provided by an embodiment of the present application;

[0014] Figure 4 is a schematic diagram of a normal operation process of multiple mover modules in an automated production system involving a cutting process provided by an embodiment of the present application;

[0015] Figure 5 is a schematic flow chart of another control method of a linear motor device provided in an embodiment of the present application;

[0016] Figure 6 It is a schematic diagram of a scenario involving a loading operation provided in an embodiment of the present application;

[0017] Figure 7 is another schematic diagram of a scenario involving a loading operation provided in an embodiment of the present application;

[0018] Figure 8 It is a schematic diagram of the normal operation process of a mover module in an automated production system involving logistics transportation provided by an embodiment of the present application;

[0019] Fig. 9 It is a schematic diagram of the operation process of a mover module in a case of a processing failure in an automated production system involving a cutting process provided by an embodiment of the present application;

[0020] Fig.10 is a schematic diagram of an operation flow of a mover module in the case of material unloading failure provided by an embodiment of the present application;

[0021] Fig.11 It is a schematic diagram of the operation process of the mover module 1 in an automated production system involving a hybrid processing technology provided in an embodiment of the present application;

[0022] Fig.12 It is a schematic diagram of the operation process of the mover module 2 in an automated production system involving a hybrid processing technology provided in an embodiment of the present application;

[0023] Fig.13 It is a schematic diagram of the operation process of multiple mover modules in an automated production system involving a hybrid processing technology provided by an embodiment of the present application;

[0024] Fig.14It is a schematic diagram of the unloading link after processing is completed in an automated production system involving a mixed processing technology provided in an embodiment of the present application;

[0025] Fig.15 It is a schematic diagram of an embodiment of the present application, in which two unloading devices are used to unload successfully processed objects and failed processed objects respectively;

[0026] Fig.16 is a schematic diagram of an operation flow of multiple mover modules in an automated production system involving an assembly process provided by an embodiment of the present application;

[0027] Fig.17 It is a schematic diagram of a storage area after reallocation of a mover identification provided in an embodiment of the present application;

[0028] Fig.18 is a schematic diagram of a linear motor device provided with a physical tag and a tag identification module provided in an embodiment of the present application;

[0029] Fig.19 This is a schematic diagram of the principle of combining tag identification information and mover identification to store operation history information provided by an embodiment of the present application;

[0030] Fig. 20 is a structural schematic diagram of a control device for a linear motor device provided in an embodiment of the present application;

[0031] Fig.21 is a structural schematic diagram of a linear motor device provided in an embodiment of the present application;

[0032] Fig. 22 This is a schematic diagram of a label identification module provided in an embodiment of the present application being arranged at a position corresponding to a transfer mechanism;

[0033] Fig.23 It is another schematic diagram that the tag identification module provided in the embodiment of the present application is arranged at a position corresponding to the transfer mechanism;

[0034] Fig.24 It is a structural schematic diagram of another linear motor device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0036] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0037] In existing automated production systems, mechanical transmission equipment (such as belt conveyors) is used to transport objects, and operating equipment for performing corresponding processing operations is provided in different links (such as loading link, processing link, unloading link, etc.).

[0038] The conveying efficiency of mechanical transmission equipment is affected by operating equipment with a long single operation time. Since mechanical transmission equipment uses a conveying component (such as a conveyor belt component) to transport the entire process, operating equipment with a long single operation time will indirectly affect the operating efficiency of other operating equipment, resulting in a decrease in the production efficiency of the automated production system.

[0039] Based on this, an embodiment of the present application provides a control method for a linear motor device, which uses multiple mover modules of a linear motor device to transport objects. When it is detected that the mover module moves to a target position corresponding to the target device, the transport history information corresponding to the mover module is obtained to obtain an acquisition result. Based on the acquisition result, it is determined whether the mover module cooperates with the target device. Since the transport history information corresponding to the mover module is obtained based on the transport-related operations experienced by the mover module before moving to the target position corresponding to the target device, it can characterize the operation status of the transport-related operations previously experienced by the mover module, so that by obtaining the transport history information corresponding to the mover module, the historical operation status of the mover module can be traced. Therefore, based on the acquisition result of the transport history information, it is helpful to accurately determine whether the mover module needs to cooperate with the current target device according to the historical operation status traced by the mover module, avoid the mover module from cooperating with unnecessary target devices, and thus save transport time. Furthermore, since the multiple mover modules of the linear motor device are independently controlled, that is, the movement control of one mover module may not be constrained by the movement control of another mover module, the movement strokes of different mover modules can be flexibly controlled according to the conveying history information of the mover modules that reach the target position at different times, so as to ensure that each mover module cooperates with the necessary target device. Therefore, the technical solution provided in the embodiment of the present application can improve the conveying efficiency of the mover modules, thereby improving the production efficiency.

[0040] The following first describes the application scenarios of the embodiments of the present application.

[0041] Please refer to Figure 1 , which is a scenario diagram of a control method for a linear motor device provided by an exemplary embodiment of the present application.

[0042] like Figure 1 As shown, the control method provided in an embodiment of the present application is applied to a linear motor device, which includes: a plurality of mover modules 110 and a stator wire body 120, a plurality of operating devices 130 are distributed around the stator wire body 120, each mover module 110 moves along the stator wire body 120 according to its moving direction and passes through each operating device 130, and each mover module 110 is independently controlled.

[0043] For example, each mover module 110 can be controlled by a local control device ( Figure 1The local control device may be connected to a host computer to communicate and interact with the local control device, wherein the host computer may be a PLC (Programmable Logic Controller) or a PC (Personal Computer). The control method in the embodiment of the present application may be applied to an electronic device (i.e., a control device) having a control function, and the control device may be a local control device or a host computer, and the embodiment of the present application does not specifically limit this.

[0044] It is understandable that the stator wire can be obtained by splicing multiple stator modules, and the shape of the stator wire formed by splicing the stator modules along the moving direction of the mover module can be a straight line shape, an arc shape, or a combination of the two. It should be noted that, for ease of understanding, the straight line shape part of the stator wire is intercepted for description in the embodiments of the present application. Other shape parts of the stator wire, or stator wires of other shapes can be obtained by analogy with the description of the embodiments of the present application.

[0045] When the linear motor device is applied to the automated production system, according to the actual situation, the linear motor device can go through the material loading link and the material unloading link of the object, thereby realizing the function of logistics transportation; further, the linear motor device can also involve the object processing link, thereby realizing the function of object processing collaboration. It is understandable that the embodiments of the present application do not specifically limit the specific application scenarios of the linear motor device.

[0046] In addition, the operation links involved in the linear motor device in the embodiment of the present application are related to the operation devices deployed along the stator line. For example, among the multiple operation devices 130, at least one loading device and at least one unloading device may be included, and the linear motor device undergoes the loading link of the object and the unloading link of the object. If the multiple operation devices 130 also include processing equipment, the linear motor device may also involve the processing link of the object.

[0047] Exemplarily, the linear motor device may further include a positioning module ( Figure 1 (not shown) is used to measure the position of each mover module 110, so as to realize the position positioning of each mover module 110. Among them, in terms of induction mode, the positioning module may include a contact sensor or a non-contact sensor; in terms of measurement principle, the positioning module may measure by one or more methods of light, electricity, and magnetism. For example, the positioning module may include: one or more combinations of resistance sensors, capacitance sensors, inductance sensors, laser sensors, photoelectric sensors, magnetic sensors, encoders, image sensors, and ultrasonic sensors, which are not limited in the embodiments of the present application.

[0048] It can be understood that, depending on the type of sensor specifically included in the positioning module, the positioning module (or some components of the positioning module) can be set in at least one of the stator body and the mover module, or the positioning module (or some components of the positioning module) can be independently set relative to the linear motor device.

[0049] The principle of how the stator filament 120 drives the mover module 110 to move is described below.

[0050] The mover module 110 includes a magnetic component having a magnetic field ( Figure 1 ), the stator body 120 may include an armature winding ( Figure 1 (not shown in the figure), a plurality of coils arranged in phase sequence may be provided in the armature winding, and the magnetic field around the armature winding is changed by periodically energizing the armature winding, so as to interact with the magnetic field of the magnetic component of the mover module 110, so as to achieve the purpose of driving the mover module 110 to move. For example, the mover module 110 may include a permanent magnet array for generating a constant magnetic field, and a changing magnetic field may be generated around the armature winding by controlling the energizing direction and / or the magnitude of the energizing current of the coil in the armature winding, and the changing magnetic field interacts with the constant magnetic field, so as to drive the mover module 110 to move relative to the stator wire 120.

[0051] It should be noted that the mover module 110 is not limited to using a permanent magnet array to achieve magnetic coupling with the stator wire 120. The mover module 110 can also use an excitation component (such as a coil, etc.) that can excite and generate a magnetic field to achieve magnetic coupling with the stator wire 120, thereby driving the mover module 110 to move relative to the stator wire 120. The embodiment of the present application is not limited to this.

[0052] It should be noted that Figure 1 An optional example is provided for explaining the structure and driving method of the linear motor device. The structure and method of the linear motor device involved in the embodiment of the present application can be adjusted and modified according to actual conditions. The embodiment of the present application does not limit the specific structure and specific driving method of the linear motor device.

[0053] Before the linear motor equipment is officially put into operation, it is necessary to pre-configure the moving stroke of the mover module through each operating device in sequence and the specific cooperation process between the mover module and each operating device in the control device of the linear motor equipment. However, as the number of operating links increases, the total time for the mover module to complete a round of transportation through each operating device increases.

[0054] Based on this, the conveying history information of the mover module can be used to improve the conveying efficiency of the mover module, thereby improving the production efficiency. The specific implementation of the control method of the linear motor device of the embodiment of the present application is described below with reference to specific examples.

[0055] Please refer to Figure 2 , which is a schematic flow chart of a control method for a linear motor device provided by an exemplary embodiment of the present application.

[0056] For example, Figure 2 As shown, the control method includes:

[0057] Step 201: When it is detected that the mover module moves to the target position corresponding to the target device, the conveying history information corresponding to the mover module is obtained to obtain the acquisition result; wherein, the conveying history information is obtained based on the conveying-related operations experienced by the mover module before moving to the target position, and the target device is the operating device currently facing the mover module among multiple operating devices.

[0058] Since the mover module may face different operating devices at different times, the target device can be understood as the operating device that the mover module faces at this moment. Among them, the operating device that the mover module faces at this moment can be: one of the multiple operating devices distributed around the stator line body. Please refer to Figure 1 , the target device may be one of the operating devices 130 .

[0059] According to the operation area or starting operation position of the operating device, a trigger position for triggering the acquisition operation of the operation history information of the actuator module can be set along the stator line body, wherein the trigger position can be located at the boundary of the operation area of ​​the operating device, inside the operation area of ​​the operating device, upstream of the operation area of ​​the operating device, the starting operation position of the operating device, etc., and the embodiments of the present application do not impose specific restrictions on this. Accordingly, the target position can be understood as: when the operating device is used as the target device, the trigger position of the operating device correspondingly set along the stator line body. According to the type of operation performed by the operating device, the operating device can be a loading device, a processing device, or a unloading device.

[0060] Specifically, position detection can be used to determine whether the mover module has moved to the target position corresponding to the target device. In a specific implementation, the positioning module of the above-mentioned linear motor device can be used to determine whether the mover module has moved to the target position. Alternatively, other position detection modules additionally arranged inside or outside the linear motor device can be used to determine whether the mover module has moved to the target position. Alternatively, it can be determined whether the mover module has moved to the target position based on a mover detection signal fed back from an operating device, wherein the mover detection signal can be generated by the operating device when the mover module is detected to exist at the target position.

[0061] For example, the control device of the linear motor device can determine whether the mover module moves to the target position corresponding to the operating device based on the actual position of the mover module measured by the positioning module and the actual position of the operating device.

[0062] For another example, the control device of the linear motor device can make a judgment based on the position detection signal of the operating device. If the control device of the linear motor device receives a mover detection signal from the operating device, it can be determined that the mover module has moved to the target position.

[0063] After detecting that the mover module has moved to the target position corresponding to the target device, the historical information of the mover module is traced by obtaining the corresponding transportation history information of the mover module, thereby improving the accuracy of the mover module control, thereby ensuring the high efficiency of the collaboration between the mover module and the target device, and further improving the transmission efficiency.

[0064] Among them, the conveying history information can be read by the local control module or the host computer of the linear motor device. The conveying history information is obtained based on the conveying-related operations experienced by the mover module before moving to the target position. In other words, the conveying history information comes from the conveying-related operations experienced by the mover module before moving to the target position, and can characterize the operating conditions of the conveying-related operations previously experienced by the mover module. The conveying-related operations previously experienced by the mover module may include: processing operations of the operating equipment that may be experienced by the mover module before moving to the target position. It can be understood that if the mover module has not previously experienced conveying-related operations, the conveying history information may be blank.

[0065] Exemplarily, the conveying history information may be generated based on the operation result information sent by the operating device to the linear motor device, or may be detected by the linear motor device based on the operation detection module included therein or an externally set operation detection module. It is understood that in actual applications, the operation detection module and the above-mentioned position detection module may be implemented by the same hardware module or by different hardware modules.

[0066] Exemplarily, the specific content of the transport history information is related to the specific operation type of the operating device experienced by the moving module before reaching the target position. The transport history information at least includes: transport result sub-information, and the transport result sub-information specifically includes at least one of the following: loading result sub-information indicating whether the loading operation is successful, unloading result sub-information indicating whether the unloading operation is successful, and processing result sub-information indicating whether the processing operation is successful.

[0067] For a loading operation or unloading operation, the conveying history information may also include: object feature sub-information of the loading object or unloading object, the object feature sub-information may be used to characterize the sub-information of the physical data of the object, and / or, sub-information used to distinguish objects. For example, the sub-information used to characterize the physical data of the object may include: object weight sub-information, object size sub-information, object shape sub-information, etc. The sub-information used to distinguish objects may include: object identification sub-information, etc. Among them, the object weight sub-information, object size sub-information, and object shape sub-information may be information obtained by querying the object identification sub-information.

[0068] For processing operations, the conveying history information may also include: processing sub-information, such as sub-information used to characterize a specific process type, sub-information used to indicate the processed object, and / or sub-information used to provide parameters required for the processing process. For example, the processing sub-information may include: process type sub-information, processed feature sub-information, processing parameter sub-information, etc. The process type sub-information may be used to characterize the cutting process type, welding process type, assembly process type, etc. The cutting process type may further characterize one or more process types among turning, milling, planing, and grinding.

[0069] For the cutting process, the physical parameters of one or more objects originally loaded in the moving module will be changed. The processed characteristic sub-information can indicate at least one of the characteristic information of the object before processing and the characteristic information of the object after processing. The characteristic information of the object before processing can include the weight sub-information of the object before processing, the size sub-information of the object before processing, the shape sub-information of the object before processing, the identification sub-information of the processed object, etc. The characteristic information of the object after processing can include the weight sub-information of the object after processing, the size sub-information of the object after processing, the shape sub-information of the object after processing, the identification sub-information of the processed object, etc.

[0070] For welding and assembly processes, objects will be added on the basis of the objects originally loaded on the movable module. The processed characteristic sub-information can indicate at least one of the characteristic information of the original object and the characteristic information of the newly added object. The characteristic information of the original object may include the weight sub-information of the original object, the size sub-information of the original object, the shape sub-information of the original object, and the identification sub-information of the original object. The characteristic information of the newly added object may include the weight sub-information of the newly added object, the size sub-information of the newly added object, the shape sub-information of the newly added object, and the identification sub-information of the newly added object.

[0071] Step 202: Based on the acquisition result of the transport history information, determine whether the mover module cooperates with the target device.

[0072] It is understandable that the acquisition result of the conveying history information can characterize the operation status of the conveying-related operations previously experienced by the mover module. Therefore, the acquisition result of the conveying history information determines whether the mover module needs to cooperate with the target device currently facing. In other words, in the embodiment of the present application, when the mover module faces the target device, it will not directly control the mover module to cooperate with the target device, but will first determine whether the mover module and the target device need to cooperate based on the acquisition result of the conveying history information, so as to avoid unnecessary cooperation between the mover module and the target device, thereby saving conveying time.

[0073] When the target device is a feeding device, judging whether the mover module cooperates with the target device can be understood as judging whether the mover module cooperates with the feeding device. The cooperation between the mover module and the feeding device can be understood as the action that the mover module needs to perform in order for the feeding device to complete the feeding operation. Specifically, the cooperation can be that the mover module is stationary at the target position waiting for the feeding device to complete the feeding operation, or the mover module moves near the target position to cooperate with the feeding device to complete the feeding operation.

[0074] When the target device is a processing device, judging whether the mover module cooperates with the target device can be understood as judging whether the mover module cooperates with the processing device. The cooperation between the mover module and the processing device can be understood as the action that the mover module needs to perform in order for the processing device to complete the processing operation. Specifically, the cooperation can be that the mover module is stationary at the target position waiting for the processing device to complete the processing operation, or moves near the target position to cooperate with the processing device to complete the processing operation.

[0075] When the target device is a material unloading device, judging whether the mover module cooperates with the target device can be understood as judging whether the mover module cooperates with the material unloading device. The cooperation between the mover module and the material unloading device can be understood as the action that the mover module needs to perform in order for the material unloading device to complete the unloading operation. Specifically, the cooperation can be that the mover module is stationary at the target position waiting for the material unloading device to complete the unloading operation, or moves near the target position to cooperate with the material unloading device to complete the unloading operation.

[0076] In the embodiment of the present application, since the conveying history information corresponding to the mover module is obtained based on the conveying-related operations experienced by the mover module before moving to the target position corresponding to the target device, it can characterize the operation conditions of the conveying-related operations previously experienced by the mover module, so that by obtaining the conveying history information corresponding to the mover module, the historical operation conditions of the mover module can be traced. Therefore, based on the acquisition result of the conveying history information, it is beneficial to accurately judge whether the mover module needs to cooperate with the current target device according to the historical operation conditions traced by the mover module, and avoid the mover module from cooperating with unnecessary target devices, thereby saving conveying time. In addition, since the multiple mover modules of the linear motor device are independently controlled, that is, the movement control of one mover module can be free from the movement control constraints of another mover module, the movement strokes of different mover modules can be flexibly controlled according to the conveying history information acquisition results of the mover modules that reach the target position at different times, so as to ensure that each mover module cooperates with the necessary target device. Therefore, the technical solution provided by the embodiment of the present application can improve the conveying efficiency of the mover module, and thus improve the production efficiency.

[0077] In some embodiments, when determining the operating device currently facing the mover module among multiple operating devices, that is, when determining the target device among multiple operating devices, its implementation method may include: based on the spacing between the mover module and the multiple operating devices, taking the operating device with the smallest spacing along the moving direction of the mover module as the target device.

[0078] In some embodiments, the implementation method of judging whether the mover module has moved to the target position corresponding to the target device in the embodiments of the present application may include: judging whether the mover module has moved to the target position based on at least one of the distance and angle deviation between the mover module and the target position. For example, when the distance between the center of the mover module and the target position is less than a preset distance threshold, and / or when the angle between the central axis of the mover module and the vertical line generated by the target position along the direction perpendicular to the extension of the stator line is less than a preset angle threshold, it is determined that the mover module has moved to the target position.

[0079] In some embodiments, the implementation method of determining whether the movable sub-module has moved to the target position corresponding to the target device as described in the embodiments of the present application may include: a physical mark may be set at the target position, and when the position detection module recognizes that the movable sub-module is aligned with the physical mark, it can be determined that the movable sub-module has moved to the target position corresponding to the target device.

[0080] It should be noted that the above embodiments are only several implementation methods provided to facilitate understanding of how to determine whether the movable module moves to the target position corresponding to the target device. In a specific implementation, the implementation method for determining whether the movable module moves to the target position corresponding to the target device is not limited to this.

[0081] It is understandable that in the step of determining whether the mover module cooperates with the target device based on the acquisition result of the transport history information described in the embodiment of the present application, there are two determination results. The first determination result is: determining that the mover module cooperates with the target device, and the second determination result is: determining that the mover module does not cooperate with the target device. In response to these two determination results, different control operations will be performed in the embodiment of the present application, which are described in detail below:

[0082] Exemplarily, after determining whether the mover module cooperates with the target device based on the acquisition result of the transport history information as described in the embodiment of the present application, it also includes: if it is determined that the mover module cooperates with the target device, controlling the mover module to cooperate with the target device; if it is determined that the mover module does not cooperate with the target device, controlling the mover module to move away from the target device.

[0083] If it is determined that the mover module cooperates with the target device, it means that the conveying history information corresponding to the mover module determines that the mover module needs to cooperate with the target device, then the mover module is controlled to cooperate with the target device so that the mover module cooperates with the target device to complete relevant processing operations. For example, when the target device is a loading device, if it is determined that the mover module cooperates with the loading device, then the mover module is controlled to cooperate with the loading device to complete loading operations related to loading. When the target device is a unloading device, if it is determined that the mover module cooperates with the unloading device, then the mover module is controlled to cooperate with the unloading device to complete unloading operations related to unloading. When the target device is a processing device, if it is determined that the mover module cooperates with the processing equipment, then the mover module is controlled to cooperate with the processing equipment to complete processing operations related to processing.

[0084] If it is determined that the mover module does not cooperate with the target device, it means that the transport history information corresponding to the mover module determines that the mover module does not need to cooperate with the target device currently facing, and the mover module is controlled to move away from the target device so that the mover module moves to the next operating device.

[0085] In an embodiment of the present application, when it is determined that the mover module needs to cooperate with the target device, the mover module is controlled to cooperate with the target device. When it is determined that the mover module does not need to cooperate with the target device, the mover module is controlled to move away from the target device. This is beneficial to ensure that the mover module only cooperates with the target device that currently needs to cooperate, and does not cooperate with the target device that currently does not need to cooperate, thereby increasing the necessity and effectiveness of the mover module's cooperation with the target device, avoiding unnecessary cooperation between the mover module and the target device, and thus saving delivery time.

[0086] In some optional embodiments, controlling the actuator module to collaborate with the target device as described in the embodiments of the present application includes: instructing the target device to perform a processing operation, and controlling the actuator module to perform corresponding actions to collaborate.

[0087] The processing operation performed by the target device may include at least one of a loading operation, a processing operation and a unloading operation. For details, please refer to the description of the above related parts, which will not be repeated here.

[0088] In an embodiment of the present application, when it is determined that the mover module needs to collaborate with the target device, the target device is instructed to perform processing operations and the mover module is controlled to perform corresponding actions to collaborate, so that the target device and the mover module collaborate, thereby improving the degree of automation and operating efficiency.

[0089] In some optional embodiments, the instructing the target device to perform a processing operation described in the embodiments of the present application includes: sending arrival information of the actuator module to the target device, and / or sending permission to perform the operation information to the target device to instruct the target device to perform the processing operation.

[0090] For example, when it is determined that the mover module cooperates with the target device, the control device can send the arrival information of the mover module to the target device, so that the target device confirms that the mover module has arrived based on the arrival information. Therefore, the target device can perform a processing operation after receiving the arrival information.

[0091] For another example, when it is determined that the actuator module cooperates with the target device, the control device may send an operation execution permission message to the target device, so that the target device confirms that the processing operation can be currently executed based on the operation execution permission message. Therefore, the target device may execute the processing operation after receiving the operation execution permission message.

[0092] For another example, when determining that the mover module cooperates with the target device, the control device can simultaneously send the mover module's arrival information and the information that allows the execution of operations to the target device, so that the target device confirms that the mover module has arrived based on the arrival information, and confirms that it should cooperate with the mover module based on the information that allows the execution of operations. That is, the target device can know multi-dimensional information, which is conducive to more accurately instructing the target device to perform processing operations through multi-dimensional information. Therefore, the target device can perform processing operations after receiving the information that allows the execution of operations and the arrival information of the mover module.

[0093] In some optional embodiments, the controlling the mover module to move away from the target device described in the embodiments of the present application includes: prohibiting the sending of arrival information of the mover module, and / or sending prohibition operation information to the target device to prevent the target device from cooperating with the mover module, and controlling the mover module to move away from the target device.

[0094] For example, when it is determined that the mover module does not cooperate with the target device, it is prohibited to send the arrival information of the mover module to the target device, so that the target device does not perform related processing operations without receiving the arrival information, and the mover module is controlled to move away from the target device to prevent the mover module from cooperating with the target device, thereby avoiding the mover module spending too much time at the target device that does not need to cooperate, and avoiding the target device from performing invalid processing operations.

[0095] For another example, when it is determined that the mover module does not cooperate with the target device, the control device can send a prohibition operation execution information to the target device, so that the target device does not perform the relevant processing operations when receiving the prohibition operation execution information, and control the mover module to move away from the target device to prevent the mover module from cooperating with the target device, thereby avoiding the mover module spending too much time at the target device that does not need to cooperate, and avoiding the target device from performing invalid processing operations.

[0096] Considering that in some scenarios, when it is detected that a mover module has reached the target position, the target device may directly perform related processing operations. Therefore, in order to avoid the target device starting to perform related processing operations before determining whether the mover module cooperates with the target device, the acquisition result based on the transport history information described in the embodiment of the present application can also include: prohibiting the target device from performing processing operations before determining whether the mover module cooperates with the target device.

[0097] Exemplarily, after detecting that the mover module moves to the target position corresponding to the target device, the target device may be first prohibited from performing processing operations, and then the step of determining whether the mover module cooperates with the target device based on the result of obtaining the transport history information is performed. Alternatively, when detecting that the mover module moves to the target position corresponding to the target device, the step of prohibiting the target device from performing processing operations and the step of determining whether the mover module cooperates with the target device based on the result of obtaining the transport history information may be performed simultaneously.

[0098] In some optional embodiments, the implementation method of prohibiting the target device from executing the processing operation described in the embodiments of the present application may include: sending prohibition operation execution information to the target device to prohibit the target device from executing the processing operation.

[0099] In an embodiment of the present application, after detecting that the mover module moves to the target position corresponding to the target device, that is, the mover module arrives at the corresponding position of the target device, the target device is first prohibited from performing processing operations, which is beneficial to avoid invalid processing operations that may be generated when the target device detects that the mover module has arrived, thereby reducing energy consumption and improving operation accuracy.

[0100] In some embodiments, in order to facilitate the acquisition of the conveying history information corresponding to the mover module, the correspondence between the mover module and the storage area can be established in advance, so that the mover module can have a corresponding storage area, so as to facilitate the storage and reading of the conveying history information. Among them, the storage area corresponding to the mover module can be: the storage area of ​​an independent storage unit (such as an independent register, an independent memory, etc.) allocated to the mover module, or the storage area corresponding to the specified address range in the storage unit is allocated as the storage area corresponding to the mover module. Based on this, the acquisition of the conveying history information corresponding to the mover module described in the embodiment of the present application and obtaining the acquisition result can include: performing a read operation on the storage area corresponding to the mover module to obtain the acquisition result of the conveying history information.

[0101] For example, see Figure 3 , Figure 3 A schematic diagram of the normal operation process of a mover module in an automated production system involving cutting technology. Figure 3 The storage area corresponding to the mover module 1 is shown in the figure. The mover module 1 passes through a loading device, several processing devices (N processing devices in the figure) and a unloading device.

[0102] Understandably, Figure 3 This is only an example for ease of understanding. In actual applications, there may be multiple mover modules, each of which has a corresponding storage area. Figure 4 , Figure 4 Schematic diagram of the normal operation process of multiple mover modules in an automated production system involving cutting technology. Figure 4 The plurality of mover modules include: mover module 1 to mover module P. Figure 4 The storage area corresponding to the mover identification 1 of the middle mover module 1 is storage area 1, the storage area corresponding to the mover identification 2 of the mover module 2 is storage area 2, the storage area corresponding to the mover identification P-1 of the mover module P-1 is storage area P-1, and the storage area corresponding to the mover identification P of the mover module P is storage area P. The embodiment of the present application does not specifically limit the number of mover modules.

[0103] It should be noted that, in actual applications, the mover module may include components for loading objects, but for the sake of intuitive understanding and description, they are not shown in the drawings of all examples. In addition, the dotted arrow box in the figure is only used to illustrate the storage area corresponding to the mover module. In actual applications, the physical device where the storage area corresponding to the mover module is located can be set in the module of the linear motor device (such as the mover module, stator module or control device), or independently set in the linear motor device, and there is no limitation on this. In addition, the dotted rectangular box in the figure (such as Figure 3 The schematic representation is as follows: "position 3-1", "position 3-2", "position 3-3", Figure 4 The schematic diagrams shown in the figure as “position 4-1”, “position 4-2”, “position 4-3”, “position 4-4”, etc.) are only used to illustrate the target position to which the mover module moves. In actual applications, as described above, the target position can be understood as: when the operating device is used as the target device, the trigger position of the operating device corresponding to the setting along the stator line is not restricted.

[0104] In some embodiments, the correspondence between the mover module and the storage area can be established through the mover identification. Specifically, before obtaining the transport history information corresponding to the mover module, it can also include: obtaining the mover identification of the mover module; according to the mover identification, establishing the correspondence between the mover module and the storage area, and the storage area is used to store the transport history information. Among them, different mover identifications are used to identify different mover modules, and the correspondence between the mover module and the storage area can be established through the mover identification, that is, one mover identification corresponds to one storage area.

[0105] In practical applications, different mover identifiers can be randomly assigned to multiple mover modules through a software program, so that each mover module can be distinguished by the mover identifier. Since there is a one-to-one correspondence between the mover identifier and the mover module, a correspondence can be established between the mover identifier and the transport history information of the mover module, so as to facilitate the acquisition of the transport history information of the mover module. Specifically, when it is detected that the mover module has moved to the target position corresponding to the target device, the transport history information corresponding to the mover module can be obtained based on the mover identifier and the pre-established correspondence between the mover identifier and the transport history information of the mover module.

[0106] For the case where it is determined that the mover module collaborates with the target device, the completion result of the collaborative action performed by the mover module this time is related to the operation result of the target device, that is, the completion result of the collaborative action of the mover module this time includes the operation information of the target device, such as information indicating a successful operation or a failed operation. Therefore, after obtaining the conveying history information corresponding to the mover module, it may also include: if it is determined that the mover module collaborates with the target device, then after detecting that the mover module and the target device have completed the collaboration, based on the mover identification of the mover module, the conveying information corresponding to the collaborative action completed by the mover module this time is stored as the conveying history information. Thereby, when the mover module performs other actions thereafter, the conveying information corresponding to the collaborative action of the mover module this time can be traced back as the conveying history information to be used to determine whether the mover module needs to collaborate with other operating devices.

[0107] Therefore, according to the mover identification, the corresponding relationship between the mover module and the storage area is established, so that during the formal operation of the linear motor equipment, based on the mover identification of different mover modules and the corresponding relationship, the corresponding conveying history information of different mover modules can be accurately obtained. In addition, based on the mover identification of the mover module, the conveying information corresponding to the mover module completing this collaborative action is stored as the conveying history information, so that when the mover module moves to face other operating devices later, the operation information corresponding to the mover module's collaborative action can be traced back as the conveying history information, so as to provide an effective reference for judging whether the mover module needs to cooperate with other operating devices.

[0108] To facilitate the understanding and application of the technical solutions provided in the embodiments of the present application, a schematic description is provided below in conjunction with the accompanying drawings.

[0109] Please refer to Figure 5 , which is a schematic flow chart of another control method for a linear motor device provided by an exemplary embodiment of the present application.

[0110] Step 501: Obtain the mover identification of the mover module.

[0111] Step 502: Establish a correspondence between the mover module and the storage area according to the mover identifier.

[0112] Step 503: when it is detected that the mover module moves to the target position corresponding to the target device, based on the mover identifier of the mover module, the conveying history information corresponding to the mover module is acquired to obtain an acquisition result.

[0113] Step 504: Based on the acquisition result of the transport history information, determine whether the moving submodule cooperates with the target device. If yes, execute step 505, otherwise execute step 506.

[0114] Step 505: Control the actuator module to cooperate with the target device.

[0115] Step 506: Control the mover module to move away from the target device.

[0116] Step 507: after detecting that the mover module has completed the collaboration with the target device, based on the mover identification of the mover module, the transport information corresponding to the collaboration action completed by the mover module is stored as transport history information.

[0117] It is understandable that the specific implementation of the above steps 503 and 504 can refer to the description of the above related parts (such as the above steps 201 and 202), which will not be repeated here. The above steps 505 and 506 have also been described above, and will not be repeated here.

[0118] In step 503, when it is detected that the mover module moves to the target position corresponding to the target device, the storage area corresponding to the mover identifier is determined based on the mover identifier of the mover module and the corresponding relationship established in step 502, and then the transport history information corresponding to the mover module is obtained from the storage area, so that for different mover modules, the transport history information can be obtained through their corresponding storage areas. Figure 4 , obtain the transport history information of mover module 1 from the storage area 1 corresponding to mover module 1, and obtain the transport history information of mover module P from the storage area P corresponding to mover module P. For the remaining mover modules, a similar method is used to obtain the transport history information, which will not be repeated here.

[0119] In step 507, after detecting that the mover module has completed the collaboration with the target device, the storage area corresponding to the mover identifier can be determined based on the mover identifier of the mover module and the corresponding relationship established in step 502, and then the delivery information corresponding to the mover module completing this collaboration action is stored in the storage area as the delivery history information. Figure 4 When it is detected that the moving submodule P has completed the cooperation with the feeding device, the conveying information corresponding to the action completed by the moving submodule P is stored in the storage area P. The stored conveying information includes: the feeding result sub-information indicating the successful feeding ( Figure 4 The schematic diagram shows "loading success") and the characteristic sub-information of object 1 ( Figure 4 When it is detected that the mover module P-1 completes the cooperation with the processing equipment 1, the conveying information corresponding to the action completed by the mover module P-1 is stored in the storage area P-1. The stored conveying information includes: the processing result sub-information indicating the processing failure ( Figure 4 The schematic diagram is shown as “Processing 1 failed”). The operation information is stored in a similar manner for the remaining mover modules, which will not be described in detail here.

[0120] Exemplarily, one implementation method of establishing a correspondence between a mover module and a storage area according to a mover identification in an embodiment of the present application includes: constructing a data structure corresponding to each mover module; and establishing a correspondence between the mover module and the corresponding data structure according to the data structure corresponding to each mover module and the mover identification. The data structure includes a processing operation variable for recording a processing operation situation, and the processing operation variable is associated with the storage area through address mapping.

[0121] Optionally, a data structure corresponding to each movable submodule can be constructed according to the operation links involved in the actual automated production system. The data structure includes processing operation variables for recording processing operation conditions, such as loading operation variables, processing operation 1 variables, ... processing operation N variables, and unloading variables corresponding to movable submodule 1. The loading operation variable is used to record the conveying history information corresponding to the loading operation, the processing operation 1 variable is used to record the conveying history information corresponding to the processing operation 1, and so on. The processing operation N variable is used to record the conveying history information corresponding to the processing operation N, and the unloading variable is used to record the conveying history information corresponding to the unloading operation. The processing operation variables are associated with the storage area through address mapping, that is, there is an address mapping relationship between the processing operation variables corresponding to each movable submodule and the storage area corresponding to each movable submodule.

[0122] The corresponding relationship between the mover module and the corresponding data structure is established through the mover identification of the mover module, that is, the index relationship between the mover module and the processing operation variable is established through the mover identification, and since there is an address mapping relationship between the processing operation variable and the storage area. Therefore, through the mover identification of the mover module, the processing operation variable corresponding to the mover module can be found, and then through the corresponding relationship between the processing operation variable and the storage area, the transport history information stored in the storage area corresponding to the processing operation variable is obtained by using the address mapping method.

[0123] It should be noted that the above example is only a method for establishing a correspondence between a mover module and a storage area provided in an embodiment of the present application. In a specific implementation, other methods can also be used to establish a correspondence between a mover module and a storage area. For example, a region identifier can be set for each storage area, and the region identifier can be bound to a mover module to establish a correspondence between the mover module and the storage area. The embodiment of the present application does not specifically limit the method for establishing a correspondence between a mover module and a storage area.

[0124] In some embodiments, after determining the mover identification automatically assigned to the mover module, the corresponding storage area may be determined by the automatically assigned mover identification.

[0125] Since the mover identification assigned by the software program is random, in order to reasonably reduce the total number of mover identifications and improve processing efficiency, different mover identifications can be assigned to different storage areas so that different mover identifications can correspond to different storage areas. Based on this, the mover identification of the mover module can be automatically assigned by any of the following two allocation methods:

[0126] Allocation method 1: Determine the first target storage area according to the free capacity of the storage area corresponding to the assignable mover identifier; use the mover identifier corresponding to the first target storage area as the mover identifier assigned to the mover module. The first target storage area is a storage area whose free capacity meets the preset capacity condition among the storage areas corresponding to the assignable mover identifiers.

[0127] The free capacity of the above-mentioned storage area can be understood as the size of the storage capacity of the storage area where no information is written. The above-mentioned preset capacity condition can be used to measure whether the storage area can be used to store the transportation history information. In a specific implementation, the preset capacity condition can be set according to the actual situation. For example, the preset capacity condition can be used to select the storage area with the largest free capacity in the storage area corresponding to each assignable mover identifier; for another example, the preset capacity condition can be used to select the storage area with the free capacity exceeding the capacity threshold in the storage area corresponding to each assignable mover identifier, wherein the meaning of "exceeding" can be determined as greater than or greater than or equal to according to the specific situation.

[0128] Through allocation method 1, the allocated mover identifier can be determined based on the free capacity, which is conducive to allocating the mover identifier corresponding to the storage area with larger free capacity to the mover module, ensuring effective use of the storage area.

[0129] Allocation method 2: Determine the second target storage area according to the storage duration of the information stored in the storage area corresponding to the assignable mover identifier; use the mover identifier corresponding to the second target storage area as the mover identifier assigned to the mover module. The second target storage area is a storage area in the storage area corresponding to the assignable mover identifier whose storage duration meets the preset duration condition.

[0130] The storage duration of the information stored in the above storage area can be understood as: the duration from the moment the information is written to the storage area to the moment the mover identification needs to be assigned. The preset duration condition can be used to measure whether the information in the storage area can be covered by the subsequently obtained transportation history information. Optionally, the duration condition can be set according to the duration of the mover module to complete a round of transportation, that is, the duration condition can be used to select the storage area corresponding to each assignable mover identification whose storage duration exceeds the duration of one round of transportation of the mover module, or the duration condition can be used to select the storage area corresponding to each assignable mover identification whose information storage duration is the longest.

[0131] Through allocation method 2, the allocated mover identifier can be determined based on the storage duration, and the mover identifier corresponding to the storage area with a longer information storage time can be allocated to the mover module, thereby ensuring reasonable reuse of the storage area without affecting the motion control of the mover module.

[0132] In order to facilitate the storage and reading of the conveying history information of each mover module, each mover module may correspond to its own storage area. Therefore, a read operation may be performed on the storage area corresponding to the mover module, and the result of the read operation may be that the conveying history information is read, or it may be that the conveying history information is not read, thereby obtaining a corresponding acquisition result. Based on this, the acquisition of the conveying history information corresponding to the mover module described in the embodiment of the present application and obtaining the acquisition result include: performing a read operation on the storage area corresponding to the mover module, and generating a first acquisition result when the conveying history information is not read, otherwise, generating a second acquisition result when the conveying history information is read in the storage area corresponding to the mover module.

[0133] When it is detected that the mover module moves to the target position corresponding to the target device, the storage area corresponding to the mover module may or may not store the conveying history information. When it is detected that the mover module moves to the target position corresponding to the target device and a read operation is performed on the storage area corresponding to the mover module, a first acquisition result may be generated because the conveying history information is not read, or a second acquisition result may be generated because the conveying history information is read.

[0134] For example, the reason why the transport history information is not read may be that the target device currently facing the mover module is the first operating device reached after the mover module is started, and the mover module does not have transport history information at this time. The first operating device may be a loading device. At this time, if the target device is a loading device, it is determined that the mover module cooperates with the target device.

[0135] In some embodiments, the embodiment of the present application describes a method for determining whether the mover module cooperates with the target device based on the acquisition result of the conveying history information, including: when the acquisition result indicates that the mover module is in an unloaded state, if the target device is a loading device, then determining that the mover module cooperates with the target device.

[0136] The acquisition result indicates that the mover module is in an unloaded state, which indicates that the mover module is not currently loaded with an object.

[0137] In the case where the mover module is not currently loaded with an object, there is no need for processing operations and unloading operations, and there is only a need for loading operations. Therefore, when the acquisition result indicates that the mover module is in an unloaded state, if the target device is a loading device, it is determined that the mover module cooperates with the target device. If the target device is not a loading device, such as a processing device or an unloading device, it is determined that the mover module does not cooperate with the target device, so that the mover module only cooperates with the loading device in the unloaded state, thereby cooperating with the loading device to perform the loading operation, which meets the demand for loading operations when the mover module is in an unloaded state, and avoids unnecessary cooperation with non-loading devices when the mover module is in an unloaded state. Waste of resources caused by.

[0138] Exemplarily, when the conveying history information corresponding to the acquisition result indicating the mover module is blank, it can be determined that the acquisition result indicates that the mover module is in an unloaded state. Alternatively, when the acquisition result indicates that the conveying history information corresponding to the mover module includes: a feeding result sub-information indicating that the feeding device operation failed, it can be determined that the acquisition result indicates that the mover module is in an unloaded state.

[0139] The result indicates that the mover module is in an unloaded state, that is, the mover module is not currently loaded with an object. This may occur in the following three scenarios:

[0140] Scenario 1: The mover module moves to face the loading equipment for the first time.

[0141] It is understandable that the first time the mover module moves to face the feeding device, it means that the mover module has not experienced any conveying-related operations before. When it is detected that the mover module moves to the target position corresponding to the target device, at this time, the conveying history information corresponding to the mover module is blank. The blank conveying history information can indicate that the mover module is in an unloaded state, and can also indicate that the mover module is moved to face the feeding device for the first time. Therefore, since the acquisition result indicates that the mover module is in an unloaded state, and the determined target device is the feeding device, it is determined that the mover module cooperates with the feeding device.

[0142] For ease of understanding, the following combination Figure 6 For schematic illustration, Figure 6 This is a schematic diagram of the above scenario 1.

[0143] exist Figure 6 In the example of the mover module 1, when it is detected that the mover module 1 moves to the target position corresponding to the target device ( Figure 6Schematically shown as "position 6-1"), at this time, the storage area corresponding to the mover module 1 does not store the transport history information, that is, the transport history information corresponding to the mover module 1 obtained is blank. Therefore, it can be determined that the acquisition result of the transport history information corresponding to the mover module 1 indicates that the mover module 1 is in an unloaded state, and because the determined target device is a loading device, it is determined that the mover module cooperates with the loading device currently facing.

[0144] Scenario 2: After the moving module experiences a loading failure, it moves again to face the loading equipment.

[0145] It is understandable that after the mover module experiences a loading failure, the loading result sub-information indicating the failure of the loading device operation corresponding to the moving module completing the current loading action will be stored as the conveying history information. Moreover, after the moving module fails to load for the first time, the moving module can be controlled to move in a no-load state until it faces the previous loading device again or faces another loading device. When it is detected that the moving module moves to the target position corresponding to the target device, the conveying history information corresponding to the moving module obtained includes the loading result sub-information indicating the failure of the loading device operation. The conveying history information can indicate that the moving module is in a no-load state, and can also indicate that the moving module has experienced a failed loading operation. Therefore, since the acquisition result indicates that the moving module is in a no-load state, and the determined target device is the loading device,

[0146] Determine whether the mover module cooperates with the loading equipment.

[0147] For ease of understanding, the following combination Figure 7 For schematic illustration, Figure 7 This is a schematic diagram of a mover module that has experienced a loading failure.

[0148] exist Figure 7 In the example of the mover module 1, when it is detected that the mover module 1 moves to the target position corresponding to the target device ( Figure 7 Schematically shown as "position 7-1"), if the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device operation failed ( Figure 7 In the example shown in the figure as "loading failure"), it can be determined that the acquisition result of the conveying history information corresponding to the mover module 1 indicates that the mover module 1 is in an unloaded state. Therefore, since the acquisition result indicates that the mover module is in an unloaded state, and the determined target device is the loading device, it is determined that the mover module cooperates with the loading device.

[0149] Scenario 3: After the moving module experiences a loading failure, it is currently moved to a non-loading device behind the loading device.

[0150] When it is detected that the mover module moves to the target position corresponding to the target device, if the transport history information corresponding to the mover module obtained includes the loading result sub-information indicating that the loading device operation failed, then the transport history information can indicate that the mover module is in an empty state, and can also indicate that the mover module has experienced a loading failure operation. Therefore, since the acquisition result indicates that the mover module is in an empty state, and the determined target device is a non-loading device, it is determined that the mover module does not cooperate with the non-loading device.

[0151] For ease of understanding, the following combination Figure 7 A schematic illustration is given. Figure 7 In the example of the mover module 2, when it is detected that the mover module 2 moves to the target position corresponding to the target device ( Figure 7 Schematically shown as "position 7-2"), the conveying history information obtained in the storage area corresponding to the slave module 2 includes: the feeding result sub-information indicating the failure of the feeding device operation ( Figure 7 Schematically shown as "loading failure" in FIG. 1 ). Thus, it can be determined that the acquisition result of the conveying history information corresponding to the mover module 2 indicates that the mover module 2 is in an unloaded state. Therefore, since the acquisition result indicates that the mover module 2 is in an unloaded state, and the target device currently facing the mover module 2 is determined to be the processing device 1 rather than the loading device, it is determined that the mover module 2 does not cooperate with the processing device 1 currently facing.

[0152] exist Figure 7 In the example, when the mover module 3 is detected to move to the target position corresponding to the target device ( Figure 7 Schematically shown as "position 7-3"), the conveying history information obtained in the storage area corresponding to the slave module 3 includes: the feeding result sub-information indicating the failure of the feeding device operation ( Figure 7 Schematically shown as "loading failure" in the figure). Therefore, it can be determined that the acquisition result of the conveying history information corresponding to the mover module 3 indicates that the mover module 3 is in an unloaded state. Therefore, since the acquisition result indicates that the mover module 3 is in an unloaded state, and the target device currently facing the mover module 3 is determined to be a material unloading device rather than a material loading device, it is determined that the mover module 3 does not cooperate with the material unloading device currently facing.

[0153] In some embodiments, the acquisition result based on the conveying history information described in the embodiments of the present application determines whether the movable module cooperates with the target device, including: when the acquisition result indicates that the loading is successful, if the target device is a unloading device, then it is determined that the movable module cooperates with the target device.

[0154] The result indicates that the loading is successful, indicating that the moving module is currently loaded with an object. At this time, if the target device is a material unloading device, it means that the material unloading operation needs to be performed on the object loaded by the moving module, so it is determined that the moving module cooperates with the target device.

[0155] For example, in a scenario where a linear motor device undergoes the loading and unloading stages of an object, if the result indicates that the loading is successful and the target device is an unloading device, it can be determined that the mover module cooperates with the unloading device, thereby controlling the mover module to cooperate with the unloading device to perform the unloading operation.

[0156] For example, see Figure 8 , Figure 8 This is a schematic diagram of the normal operation process of a mover module in an automated production system involving logistics transportation.

[0157] Figure 8 The operating equipment in the embodiment includes a loading device and a unloading device. The operation links involved in the linear motor device include the loading link of the loading device and the unloading link of the unloading device. Taking the mover module 1 as an example, the object loaded by the mover module 1 is object 1. When it is detected that the mover module 1 moves to the target position corresponding to the target device ( Figure 8 Schematically shown as "position 8-1"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Figure 8 The schematic diagram shows “loading success”) and the characteristic sub-information of object 1 (such as Figure 8 Schematically shown as “object 1 information”). Therefore, it can be determined that the acquisition result of the conveying history information indicates that the loading is successful. At the same time, since the target device is a material unloading device, it is determined that the mover module 1 cooperates with the material unloading device to cooperate with the material unloading device to unload the object 1 loaded on the mover module 1.

[0158] Further, after detecting that the mover module 1 has completed the cooperation with the material unloading device, the unloading result information indicating that the unloading device has successfully operated corresponding to the cooperation action completed by the mover module 1 is stored as the conveying history information (such as Figure 8 The schematic diagram is shown as “material cutting successful”).

[0159] For example, in a scenario where a linear motor device undergoes the loading, processing, and unloading stages of an object, if the result indicates that the loading is successful and the target device is an unloading device, then regardless of whether the processing operation in the processing stage is successful, it can be determined that the mover module cooperates with the unloading device, thereby controlling the mover module to cooperate with the unloading device to perform the unloading operation. In other words, the object unloaded by the unloading device at this time may be an object that has been successfully processed, or an object that has failed to be processed. Figure 3 and Fig. 9A schematic description is given respectively. Figure 3 In the process, the objects unloaded by the unloading equipment are the objects that have been processed successfully. Fig. 9 In the process, the objects unloaded by the unloading equipment are the objects that have failed in processing.

[0160] See also Figure 3 , Figure 3 It is a schematic diagram of the normal operation process of a mover module in an automated production system involving a cutting process provided in an embodiment of the present application.

[0161] Figure 3 The operating equipment in the embodiment includes a loading device, N processing devices and a unloading device. The operation links involved in the linear motor device include the loading link of the loading device, the processing link of the processing device and the unloading link of the unloading device. Taking the mover module 1 as an example, the object loaded by the mover module 1 is object 1. When it is detected that the mover module 1 moves to the target position corresponding to the target device ( Figure 3 Schematically shown as "position 3-1"), at this time, the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Figure 3 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Figure 3 Schematically shown as “object 1 information”) and processing result sub-information indicating that N processing devices have all been successfully operated ( Figure 3 Schematically shown as "Processing 1 successfully...Processing n successfully"). Since the acquired conveying history information includes the loading result sub-information indicating that the loading device has successfully operated, it can be determined that the acquisition result of the conveying history information indicates that the loading is successful. At the same time, since the target device is a material unloading device, it is determined that the mover module 1 cooperates with the material unloading device to cooperate with the material unloading device to unload the successfully processed object 1 loaded by the mover module 1.

[0162] Further, after detecting that the mover module 1 has completed the cooperation with the material unloading device, the unloading result information indicating that the unloading device has successfully operated corresponding to the cooperation action completed by the mover module 1 is stored as the conveying history information (such as Figure 3 The schematic diagram is shown as “material cutting successful”).

[0163] See also Fig. 9 , Fig. 9 It is a schematic diagram of the operation process of a mover module in a case of a processing failure in an automated production system involving a cutting process provided in an embodiment of the present application.

[0164] exist Fig. 9In the example, the mover module 1 is taken as an example. The object loaded by the mover module 1 is object 1. The mover module 1 has experienced a failed operation of processing by processing equipment 1. When it is detected that the mover module 1 moves to the target position corresponding to the target equipment ( Fig. 9 Schematically shown as "position 9-1"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig. 9 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Fig. 9 Schematically shown as “object 1 information”) and processing result sub-information indicating that the processing device 1 failed to operate ( Fig. 9 Since the acquired conveying history information includes the loading result sub-information indicating the successful operation of the loading device, it can be determined that the acquisition result of the conveying history information indicates the successful loading. At the same time, since the target device is the unloading device, it is determined that the mover module 1 cooperates with the unloading device to cooperate with the unloading device to unload the object 1 loaded by the mover module 1 and failed in processing.

[0165] Further, after detecting that the mover module 1 has completed the cooperation with the material unloading device, the unloading result information indicating that the unloading device has successfully operated corresponding to the cooperation action completed by the mover module 1 is stored as the conveying history information (such as Fig. 9 The schematic diagram is shown as “material cutting successful”).

[0166] It can be understood that if the target device is a material unloading device, after the movable module and the material unloading device cooperate successfully, the conveying history information of the movable module can be established with the object unloaded by the material unloading device, thereby serving as the operation history information of the object, so that when the automated production process of the object is subsequently checked, it can be used as the information of the object for traceability.

[0167] In some embodiments, the acquisition result based on the conveying history information described in the embodiments of the present application determines whether the mover module cooperates with the target device, including: when the acquisition result indicates that the loading is successful and there is no processing failure operation on the object conveyed by the mover module, if the target device is a processing device, then it is determined that the mover module cooperates with the target device.

[0168] It can be understood that when the results obtained indicate that the loading is successful and there is no failed processing operation on the object conveyed by the movable module, it means that the loading operation and processing operation previously experienced by the movable module are all successful processing operations. If the target device currently facing the movable module is a processing device, it means that the cooperation between the movable module and the processing device is necessary. Therefore, it can be determined that the movable module cooperates with the current processing equipment so that the processing equipment continues to perform processing operations on the objects carried by the movable module, thereby ensuring the continuity and necessity of the processing operations on the objects carried by the movable module.

[0169] For example, see Figure 3 , taking the mover module 1 as an example, when it is detected that the mover module 1 moves to the target position corresponding to the target device ( Figure 3 Schematically shown as "position 3-3"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Figure 3 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Figure 3 Schematically shown as “object 1 information”) and processing result information indicating that processing equipment 1 to processing equipment N-1 have all been successfully operated ( Figure 3 Schematically shown as "Processing 1 is successful... Processing n-1 is successful"). Since the acquired conveying history information includes the loading result sub-information indicating that the loading device has been successfully operated, it can be determined that the acquisition result of the conveying history information indicates that the loading is successful, and the acquired conveying history information includes the processing result sub-information indicating that the processing devices 1 to N-1 have all been successfully operated, it can be determined that the acquisition result of the conveying history information indicates that there is no processing failure operation on the object 1 conveyed by the mover module 1. At the same time, since the target device is the processing device N, it is determined that the mover module 1 cooperates with the processing device N to cooperate with the processing device N to perform a processing operation on the object 1 loaded on the mover module 1.

[0170] Further, after detecting that the mover module 1 has completed the collaboration with the processing device N, the processing result information indicating that the processing device N has successfully operated corresponding to the collaboration action completed by the mover module 1 is stored as the transmission history information (eg Figure 3 Schematically shown as "Processing n Successful").

[0171] In some embodiments, the acquisition result based on the conveying history information described in the embodiments of the present application determines whether the mover module cooperates with the target device, including: when the acquisition result indicates that the mover module is in a loading state and the unloading fails, if the target device is not an unloading device, it is determined that the mover module does not cooperate with the target device.

[0172] It is understandable that if the acquisition result indicates that the mover module is in a loading state and the unloading fails, it means that the mover module is loaded with an object at this time, but the loaded object has experienced an unloading failure operation. It can be seen that the mover module should cooperate with the unloading equipment to perform unloading operations, and should not perform meaningless cooperation with non-unloading equipment. Therefore, if the target equipment is not an unloading equipment, it is determined that the mover module does not cooperate with the target equipment, which is conducive to avoiding meaningless cooperation between the mover module and the non-unloading equipment it faces, thereby saving processing resources and saving transportation time.

[0173] Exemplarily, if the transport history information includes loading result sub-information indicating successful loading, it can be determined that the acquisition result indicates that the moving module is in the loading state. If the transport history information includes unloading result sub-information indicating unloading failure, it can be determined that the acquisition result indicates unloading failure.

[0174] See also Fig.10 , Fig.10 It is a schematic diagram of the operation process of the mover module in the case of material cutting failure.

[0175] Fig.10 In the example, when the mover module 1 faces the material unloading device for the first time, the collaboration between the mover module 1 and the material unloading device fails, that is, the material unloading device fails. After detecting that the mover module 1 has completed the collaboration with the material unloading device, the material unloading result information indicating the material unloading failure corresponding to the collaboration action completed by the mover module 1 is stored as the conveying history information (such as Fig.10 In the schematic diagram, it is shown as "unloading failure"). After unloading fails, the mover module 1 is controlled to idle for one round and then return to the position corresponding to the unloading device, and cooperate with the unloading device to perform unloading again. In the process of controlling the mover module 1 to idle for one round, the mover module 1 will go through the loading device, processing equipment 1 to processing equipment N, and unloading equipment in sequence. The process of idling for one round is explained below:

[0176] When it is detected that the mover module 1 moves to the target position corresponding to the target device ( Fig.10 Schematically shown as "position 10-1"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.10 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Fig.10 Schematically shown as “object 1 information”), processing result information indicating that processing equipment 1 to processing equipment N-1 have all been successfully operated ( Fig.10 Schematically shown as "Processing 1 successful... Processing n-1 successful") and the blanking result information indicating the failure of blanking (such as Fig.10(shown schematically as "unloading failure" in the figure). Since the conveying history information includes: loading result sub-information indicating successful loading and unloading result sub-information indicating unloading failure, it can be determined that the acquisition result of the conveying history information indicates that the mover module 1 is in a loading state and unloading has failed. In addition, since the target device currently facing the mover module 1 is a loading device, that is, the target device is not an unloading device, it can be determined that the mover module 1 does not cooperate with the loading device. Then, the mover module 1 is controlled to drive away from the loading device to move to the next operating device of the loading device, that is, the processing device 1 in the figure.

[0177] When it is detected that the mover module 1 moves to the target position corresponding to the target device ( Fig.10 Schematically shown as "position 10-2"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.10 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Fig.10 Schematically shown as “object 1 information”), processing result information indicating that processing equipment 1 to processing equipment N-1 have all been successfully operated ( Fig.10 Schematically shown as "Processing 1 successful... Processing n-1 successful") and the blanking result information indicating the failure of blanking (such as Fig.10 Schematically shown as "unloading failure" in the figure). Therefore, it can be determined that the acquisition result of the conveying history information indicates that the mover module 1 is in a loading state and the unloading has failed. Moreover, since the target device currently facing the mover module 1 is the processing equipment 1, that is, the target device is not a unloading device, it can be determined that the mover module 1 does not cooperate with the processing equipment 1. Then, the mover module 1 is controlled to drive away from the processing equipment 1 to move to the next operating device of the processing equipment 1, such as the processing equipment 2 (not shown in the figure). Similarly, if the mover module 1 moves to face one of the processing equipment 2 to the processing equipment N, the acquisition result of the conveying history information indicates that the mover module is in a loading state and the unloading has failed. Therefore, when the mover module 1 moves to face one of the processing equipment 2 to the processing equipment N, it will be determined that the mover module 1 does not cooperate with it and continues to move to the next operating device.

[0178] When it is detected that the mover module 1 moves to the target position corresponding to the target device ( Fig.10 Schematically shown as "position 10-3"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.10 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Fig.10Schematically shown as “object 1 information”), processing result information indicating that processing equipment 1 to processing equipment N-1 have all been successfully operated ( Fig.10 Schematically shown as "Processing 1 successful... Processing n-1 successful") and the blanking result information indicating the failure of blanking (such as Fig.10 In the diagram, it is schematically shown as "unloading failure"). Therefore, it can be determined that the acquisition result of the conveying history information indicates that the mover module 1 is in the loading state and the unloading has failed. However, since the target device at this time is the unloading device, it is determined that the mover module 1 cooperates with the unloading device. In addition, after detecting that the mover module 1 has completed the cooperation with the unloading device, the unloading result sub-information indicating that the unloading is successful corresponding to the completion of this cooperation action by the mover module 1 is stored as the conveying history information (such as Fig.10 The schematic diagram is shown as “material cutting successful”).

[0179] In some embodiments, the embodiment of the present application describes a method of determining whether the mover module cooperates with the target device based on the acquisition result of the conveying history information, including: when the acquisition result indicates that the loading has failed, if the target device is a non-loading device, then determining that the mover module does not cooperate with the target device.

[0180] It is understandable that the acquisition result indicates that the loading has failed, which means that the mover module is not currently loaded with an object. In the case where the mover module is not currently loaded with an object, there is no need for processing operations and unloading operations, only loading operations. Therefore, if the target device is a non-loading device, it is determined that the mover module does not cooperate with the target device to avoid unnecessary cooperation between the mover module and the non-loading device in the case of a loading failure. Waste of resources, which is beneficial to saving processing resources and saving transportation time.

[0181] For example, see Figure 7 , taking the mover module 2 as an example, when it is detected that the mover module 2 moves to the target position corresponding to the target device ( Figure 7 Schematically shown as "position 7-1"), the conveying history information obtained in the storage area corresponding to the slave module 2 includes: the feeding result sub-information indicating the failure of the feeding device operation ( Figure 7 Thus, it can be determined that the acquisition result of the conveying history information corresponding to the mover module 2 indicates that the loading has failed, and since the target device currently facing the mover module 2 is the processing device 1 rather than the loading device, it is determined that the mover module 2 does not cooperate with the processing device 1 currently facing.

[0182] Continue reading Figure 7 , taking the mover module 3 as an example, when it is detected that the mover module 3 moves to the target position corresponding to the target device ( Figure 7Schematically shown as "position 7-2"), the conveying history information obtained in the storage area corresponding to the slave module 3 includes: the feeding result sub-information indicating the failure of the feeding device operation ( Figure 7 Thus, it can be determined that the acquisition result of the conveying history information corresponding to the mover module 3 indicates that the loading has failed, and since the target device currently facing the mover module 3 is a material unloading device rather than a material loading device, it is determined that the mover module 3 does not cooperate with the material unloading device currently facing.

[0183] In some embodiments, the acquisition result based on the conveying history information described in the embodiments of the present application determines whether the mover module cooperates with the target device, including: when the acquisition result indicates that the loading is successful and there is a processing failure operation on the object conveyed by the mover module, if the target device is a processing device, it is determined that the mover module does not cooperate with the target device.

[0184] It is understandable that the acquisition result indicates that the loading is successful and the object conveyed by the mover module has a processing failure operation, which means that the loading operation previously experienced by the mover module was a successful processing operation, and there was a processing failure operation in the processing operation experienced. For objects that have already had a processing failure operation, there is no need to continue processing. Therefore, if the target device currently facing the mover module is a processing device, it means that the cooperation between the mover module and the processing device is unnecessary. Therefore, it can be determined that the mover module does not cooperate with the processing device currently facing, so as to avoid the processing device from continuing to process the object that has already failed to be processed, which is conducive to saving processing resources and saving transportation time.

[0185] For example, see Fig. 9 , taking the mover module 1 as an example, the object loaded by the mover module 1 is object 1, and the mover module 1 has experienced a failed operation of processing by the processing device 1. When it is detected that the mover module 1 moves to the target position corresponding to the target device ( Fig. 9 Schematically shown as "position 9-1"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig. 9 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Fig. 9 Schematically shown as “object 1 information”) and processing result sub-information indicating that the processing device 1 failed to operate ( Fig. 9Schematically shown as "Processing 1 failed"). Since the acquired conveying history information includes the loading result sub-information indicating that the loading device is successfully operated and the processing result sub-information indicating that the processing device 1 is unsuccessful, it can be determined that the acquisition result of the conveying history information indicates that the loading is successful and the object 1 conveyed by the mover module 1 has a processing failure operation. Since the target device is the processing device N at this time, it is determined that the mover module 1 does not cooperate with the processing device N, so the mover module 1 is controlled to drive away from the processing device N.

[0186] To facilitate the understanding and application of the technical solution provided in the embodiments of the present application, a schematic description is provided below through specific application scenarios and drawings.

[0187] In an alternative embodiment, see Figure 3 ,exist Figure 3 In the scenario shown, each actuator module (in Figure 3 Taking the mover module 1 in the figure as an example), it will pass through a loading device, several processing devices (N processing devices in the figure) and a unloading device.

[0188] Taking the mover module 1 as an example, when it is detected that the mover module 1 moves to the target position corresponding to the target device ( Figure 3 Schematically shown as "position 3-1"), the storage area corresponding to the mover module 1 does not store the conveying history information, that is, the conveying history information corresponding to the mover module 1 obtained is blank. Therefore, it can be determined that the acquisition result of the conveying history information corresponding to the mover module 1 indicates that the mover module 1 is in an unloaded state, thereby determining that the mover module needs to cooperate with the current loading equipment. Furthermore, after detecting that the mover module 1 has completed the cooperation with the loading equipment, the loading result sub-information indicating that the loading equipment has successfully operated and the characteristic sub-information of object 1 corresponding to the completion of this cooperation action by the mover module 1 are stored as the conveying history information (such as Figure 3 The schematic display is "loading successful" and "object 1 information").

[0189] After detecting that the mover module 1 has completed cooperation with the loading device, the mover module 1 is controlled to move toward the processing device 1. When it is detected that the mover module 1 moves to the target position corresponding to the target device ( Figure 3 The conveying history information corresponding to the moving module 1 obtained includes: the feeding result sub-information indicating the successful operation of the feeding device and the characteristic sub-information of the object 1 (such as Figure 3Schematically shown as "loading success" and "object 1 information"), it can be determined that the acquisition result of the conveying history information indicates that the loading is successful and there is no processing failure operation of the object 1 conveyed by the mover module 1, and because the target device is the processing device 1, it is determined that the mover module 1 needs to cooperate with the processing device 1. Further, after it is detected that the mover module 1 has completed the cooperation with the processing device 1, the processing result sub-information indicating the successful operation of the processing device 1 corresponding to the completion of this cooperation action by the mover module 1 is stored as the conveying history information (such as Figure 3 Schematically shown as “Processing 1 successful”).

[0190] After detecting that the mover module 1 has completed cooperation with the processing equipment 1, the mover module 1 is controlled to move toward the processing equipment 2 (not shown in the figure). In the absence of a processing failure operation, when the mover module 1 moves to face the processing equipment 2 to the processing equipment N, it will be determined that the mover module 1 cooperates with the processing equipment it faces. After detecting that the mover module 1 has completed cooperation with the processing equipment N, the mover module 1 is controlled to move toward the lowering equipment.

[0191] When it is detected that the mover module 1 moves to the target position corresponding to the target device ( Figure 3 Schematically shown as "position 3-3"), the conveying history information corresponding to the moving module 1 obtained includes: the feeding result information indicating that the feeding device is successfully operated (such as Figure 3 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Figure 3 Schematically shown as “object 1 information”), processing result sub-information indicating that N processing devices have all been successfully operated ( Figure 3 Schematically shown as "Processing 1 is successful... Processing n is successful"). It can be determined that the acquisition result of the conveying history information indicates that the loading is successful, and because the target device is a material unloading device, it is determined that the mover module 1 needs to cooperate with the material unloading device. Further, after detecting that the mover module 1 has completed the cooperation with the material unloading device, the unloading result information indicating that the material unloading device has successfully operated corresponding to the completion of this cooperation action by the mover module 1 is stored as the conveying history information (such as Figure 3 The schematic diagram is shown as “material cutting successful”).

[0192] In addition, the transportation history information obtained by the movable module 1 in this round of transportation can be correspondingly related to the object 1 transferred by the unloading equipment, so as to serve as the transportation history information of the object 1, so that the information of the object 1 can be traced back when the automated production process of the object 1 is subsequently checked.

[0193] Figure 3This is the operation flow of a single mover module. However, in actual implementation, multiple mover modules in a linear motor device usually have their own actions. The following is an example of the operation flow of multiple mover modules in an automated production system involving cutting technology. Figure 4 , the multiple mover modules include: mover module 1 to mover module P.

[0194] for Figure 4 The movable module P in the storage area is the storage area P. When it is detected that the movable module P moves to the target position corresponding to the target device ( Figure 4 Schematically shown as "position 4-1")

[0195] , at this time, the transport history information is not stored in the storage area P corresponding to the mover module P, that is, the transport history information corresponding to the mover module P obtained is blank. Therefore, it can be determined that the acquisition result of the transport history information corresponding to the mover module P indicates that the mover module P is in an unloaded state, and because the target device is a loading device, it is determined that the mover module P needs to cooperate with the loading device currently facing. Furthermore, after detecting that the mover module P has completed the collaboration with the loading device, the loading result sub-information indicating that the loading device operation was successful and the characteristic sub-information of object 1 corresponding to the completion of this collaboration action by the mover module P are stored as the transport history information (such as Figure 4 The schematic display is "loading successful" and "object 1 information").

[0196] for Figure 4 The movable module P-1 in the storage area is the storage area P-1. When it is detected that the movable module P-1 moves to the target position corresponding to the target device ( Figure 4 Schematically shown as "position 4-2"), the conveying history information corresponding to the moving module P-1 obtained from the storage area P-1 includes: the loading result sub-information indicating successful loading and the characteristic sub-information of object 1 (such as Figure 4 Schematically shown as "loading success" and "object 1 information"). Therefore, it can be determined that the acquisition result of the conveying history information corresponding to the movable module P-1 indicates that the loading is successful and there is no processing failure operation for the object 1 conveyed by the movable module P-1, and because the target device is the processing device 1, it is determined that the movable module P-1 needs to cooperate with the processing device 1 currently facing. Further, after detecting that the movable module P-1 has completed the cooperation with the processing device 1, the processing result sub-information indicating the failure of the processing device 1 operation corresponding to the completion of this cooperation action by the movable module P-1 is stored as the conveying history information (such as Figure 4 Schematically shown as "Processing 1 failed").

[0197] for Figure 4The movable module 2 in the storage area is the storage area 2. When it is detected that the movable module 2 moves to the target position corresponding to the target device ( Figure 4 Schematically shown as "position 4-3"), the conveying history information corresponding to the moving module 2 obtained from the storage area 2 includes: the loading result information indicating successful loading (such as Figure 4 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Figure 4 Schematically shown as “object 1 information”), processing result information indicating that processing equipment 1 to processing equipment N-1 have all successfully processed (such as Figure 4 Schematically shown as "Processing 1 is successful... Processing n-1 is successful"). Therefore, it can be determined that the acquisition result of the conveying history information corresponding to the mover module 2 indicates that the loading is successful and there is no processing failure operation on the object 1 conveyed by the mover module 2, and because the target device is the processing device N, it is determined that the mover module 2 needs to cooperate with the processing device N currently facing. Further, after it is detected that the mover module 2 has completed the cooperation with the processing device N, the processing result sub-information indicating that the operation of the processing device N is successful is stored as the conveying history information corresponding to the mover module 2 completing this cooperation action (such as Figure 4 Schematically shown as "Processing n Successful").

[0198] for Figure 4 The movable module 1 in the storage area is the storage area 1. When it is detected that the movable module 1 moves to the target position corresponding to the target device ( Figure 4 Schematically shown as "position 4-4"), the conveying history information corresponding to the moving module 1 obtained from the storage area 1 includes: the loading result information indicating successful loading (such as Figure 4 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Figure 4 Schematically shown as “object 1 information”), processing result information indicating that processing equipment 1 to processing equipment N have all successfully processed (such as Figure 4 Schematically shown as "Processing 1 is successful... Processing n is successful"). Therefore, it can be determined that the acquisition result of the conveying history information corresponding to the mover module 1 indicates that the loading is successful, and because the target device is a material unloading device, it is determined that the mover module 1 needs to cooperate with the material unloading device currently facing. Further, after detecting that the mover module 1 has completed the cooperation with the material unloading device, the unloading result sub-information indicating that the material unloading device has successfully operated corresponding to the completion of this cooperation action by the mover module 1 is stored as the conveying history information (such as Figure 4 The schematic diagram is shown as “material cutting successful”).

[0199] With the changes in production needs, producing one type of product through an automated production system is no longer able to meet the needs of today's society. For mechanical transmission equipment, its conveying capacity is difficult to meet the conveying efficiency requirements of the production of multiple types of products. For example, the operating procedures of multiple types of objects are different, and it is necessary to control the conveyor belt components to adapt to the operating procedures of each type of object, resulting in a further reduction in conveying efficiency. Based on this, the embodiment of the present application is based on the independent control characteristics of the mover modules of the linear motor device, and can control multiple mover modules to convey multiple types of objects alternately (adjacently or alternately at a preset number of intervals), thereby achieving mixed conveying of different types of objects, thereby achieving the purpose of producing multiple types of products. Based on the above content, it can be seen that linear motor equipment can be applied to two processes: logistics transportation or equipment processing. Correspondingly, mixed transportation can also achieve logistics sorting and / or mixed processing.

[0200] In an optional embodiment, multiple mover modules are used to transport at least two types of objects; the operating equipment includes a processing device for processing a specified type of object and / or a material unloading device for transferring a specified type of object. In this scenario, the method described in the embodiment of the present application determines whether the mover module cooperates with the target device based on the acquisition result of the conveying history information, including: when the acquisition result indicates successful loading and there is no processing failure operation of the object, if the target device is a processing device that matches the type of the loaded object, then it is determined that the mover module cooperates with the target device.

[0201] It can be understood that the acquisition result indicates that the loading is successful and there is no processing failure operation on the object, indicating that the loading operation and processing operation previously experienced by the mover module are all successful processing operations, and the object transported by the mover module needs to continue to be processed. However, since multiple mover modules are used to transport at least two types of objects in this scenario, the operating equipment includes a processing equipment for processing objects of a specified type. In other words, the processing equipment currently facing the mover module may not be used to perform processing operations on the object transported by the mover module. Only when the processing equipment currently facing the mover module matches the type of object transported by the mover module, the processing equipment can be used to perform processing operations on the object transported by the mover module. Therefore, when the acquisition result indicates that the loading is successful and there is no processing failure operation on the object, if the target equipment is a processing equipment that matches the type of the loading object, it is determined that the mover module cooperates with the target equipment so that the processing equipment that matches the type of the loading object can continue to perform processing operations on the object transported by the mover module, ensuring the continuity and necessity of the processing operations on the objects carried by the mover module, which is conducive to meeting the needs of mixed processing.

[0202] In an alternative embodiment, see Fig.11 and Fig.12, which is a schematic diagram of the normal operation process of the mover module in an automated production system involving hybrid processing technology. Fig.11 and 12 In the scenario shown, each mover module (take mover module 1 and mover module 2 as examples) will pass through a loading device and several processing devices (take processing device 1 and processing device 2 as examples in the figure). Processing device 1 and processing device 2 are used to process different types of objects, respectively. For ease of description, the example of processing device 1 and processing device 2 being used to process type A objects and type B objects, respectively, is used for explanation.

[0203] Fig.11 It is a schematic diagram of the operation process of the mover module 1 in the automated production system involving the hybrid processing technology.

[0204] exist Fig.11 In the example of the mover module 1, when it is detected that the mover module 1 moves to the target position corresponding to the target device ( Fig.11 Schematically shown as "position 11-1"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.11 The schematic diagram shows “loading success”) and the characteristic sub-information of Class A objects (such as Fig.11 Schematically shown as "Class A object information" in the figure). It can be determined that the acquisition result of the conveying history information indicates that the loading is successful and there is no processing failure operation of the Class A object. In addition, since the processing equipment 1 currently facing the mover module 1 is a processing equipment that matches the type of the loaded object, i.e., the Class A object, it is determined that the mover module 1 cooperates with the processing equipment 1. Further, after it is detected that the mover module 1 and the processing equipment 1 have completed the cooperation, the processing result sub-information indicating that the operation of the processing equipment 1 is successful is stored as the conveying history information corresponding to the completion of this cooperation action by the mover module 1 (such as Fig.11 Schematically shown as “Processing 1 successful”).

[0205] Continue reading Fig.11 After detecting that the mover module 1 has completed cooperation with the processing device 1, the mover module 1 is controlled to move to the next operating device, namely the processing device 2. When it is detected that the mover module 1 moves to the target position corresponding to the target device ( Fig.11 Schematically shown as "position 11-2"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.11 The schematic diagram is shown as "loading success"), the characteristic sub-information of Class A objects (such as Fig.11 Schematically shown as “Class A object information”) and processing result sub-information indicating successful operation of the processing device 1 (such as Fig.11Schematically shown as "Processing 1 Successful"). It can be determined that the acquisition result of the conveying history information indicates that the loading is successful and there is no processing failure operation for the Class A object. However, since the processing equipment 2 currently facing the mover module 1 is not a processing equipment that matches the type of the Class A object, it is determined that the mover module 1 does not cooperate with the processing equipment 2.

[0206] Fig.12 It is a schematic diagram of the operation process of the mover module 2 in the automated production system involving the hybrid processing technology.

[0207] exist Fig.12 In the example of the mover module 2, when it is detected that the mover module 2 moves to the target position corresponding to the target device ( Fig.12 Schematically shown as "position 12-1"), the conveying history information obtained in the storage area corresponding to the slave module 2 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.12 The schematic diagram shows “loading success”) and the characteristic sub-information of Class B objects (such as Fig.12 Schematically shown as "Class B object information" in the figure). It can be determined that the acquisition result of the conveying history information indicates that the loading is successful and there is no processing failure operation of the Class B object. However, since the processing equipment 1 currently facing the mover module 2 is not a processing equipment that matches the type of the loaded object, i.e., the Class B object, it is determined that the mover module 2 does not cooperate with the processing equipment 1. Then, the mover module 2 is controlled to drive away from the processing equipment 1 and move toward the processing equipment 2.

[0208] Continue reading Fig.12 , when it is detected that the mover module 2 moves to the target position corresponding to the target device ( Fig.12 Schematically shown as "position 12-2"), the conveying history information obtained in the storage area corresponding to the slave module 2 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.12 The schematic diagram shows “loading success”) and the characteristic sub-information of Class B objects (such as Fig.12 Schematically shown as "Class B object information" in the figure). It can be determined that the acquisition result of the conveying history information indicates that the loading is successful and there is no processing failure operation for Class B objects. In addition, since the processing equipment 2 currently facing the mover module 2 is a processing equipment that matches the type of Class B objects, it is determined that the mover module 2 cooperates with the processing equipment 2. Further, after it is detected that the mover module 2 and the processing equipment 2 have completed the cooperation, the processing result sub-information indicating that the processing equipment 2 has successfully operated corresponding to the mover module 2 completing this cooperation action is stored as the conveying history information (such as Fig.12 Schematically shown as “Processing 2 successful”).

[0209] It is understandable that, in a specific implementation, the multiple mover modules in the linear motor device usually have their own actions, and each mover module can be operated according to the above Fig.11 or Fig.12 Control the process in.

[0210] In an alternative embodiment, see Fig.13 , is a schematic diagram of the operation process of multiple mover modules in an automated production system involving hybrid processing technology. Fig.13 In the scenario shown, each mover module (take mover module 1 to mover module 2 as an example) will pass through a loading device and several processing devices (take processing device 3 and processing device 4 as an example in the figure). Processing device 3 and processing device 4 are used to process Class A objects and Class B objects respectively.

[0211] for Fig.13 The mover module 1 in the target device is detected to move to the target position corresponding to the target device ( Fig.13 Schematically shown as "position 13-1"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.13 The schematic diagram is shown as "loading success"), the characteristic sub-information of Class A objects (such as Fig.13 Schematically shown as “Class A object information”) and processing result sub-information indicating successful operation of the processing device 1 (such as Fig.13 Schematically shown as "Processing 1 successful" in the figure). It can be determined that the acquisition result of the conveying history information indicates that the loading is successful and there is no processing failure operation for the Class A object. In addition, since the processing equipment 3 currently facing the mover module 1 is a processing equipment that matches the type of the Class A object, it is determined that the mover module 1 cooperates with the processing equipment 3. Further, after detecting that the mover module 1 and the processing equipment 3 have completed the cooperation, the processing result sub-information indicating that the processing equipment 3 has successfully operated corresponding to the mover module 1 completing this cooperation action is stored as the conveying history information (such as Fig.13 Schematically shown as “Processing 3 successful”).

[0212] for Fig.13 The mover module 2 in the target device is detected to move to the target position corresponding to the target device ( Fig.13 Schematically shown as "position 13-2"), the conveying history information obtained in the storage area corresponding to the slave module 2 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.13 The schematic diagram shows “loading success”), the characteristic sub-information of Class B objects (such as Fig.13 Schematically shown as “Class B object information”) and processing result sub-information indicating successful operation of the processing device 2 (such as Fig.13 Schematically shown as "Processing 2 successful" in the figure). It can be determined that the acquisition result of the conveying history information indicates that the loading is successful and there is no processing failure operation for the Class B object. In addition, since the processing equipment 4 currently facing the mover module 2 is a processing equipment that matches the type of the Class B object, it is determined that the mover module 2 cooperates with the processing equipment 4. Further, after detecting that the mover module 2 and the processing equipment 4 have completed the cooperation, the processing result sub-information indicating that the processing equipment 4 has successfully operated corresponding to the mover module 2 completing this cooperation action is stored as the conveying history information (such as Fig.13 Schematically shown as “Processing 4 successful”).

[0213] In some embodiments, multiple mover modules are used to transport at least two types of objects; the operating equipment includes processing equipment for processing objects of a specified type and / or unloading equipment for transferring objects of a specified type. In this scenario, the method described in the embodiment of the present application determines whether the mover module cooperates with the target device based on the acquisition result of the conveying history information, including: when the acquisition result indicates successful loading, if the target device is an unloading device that matches the type of the loaded object, then it is determined that the mover module cooperates with the target device.

[0214] It can be understood that if the acquisition result indicates successful loading, it means that the movable module is loaded with an object. At this time, no matter whether the object loaded by the movable module has been processed by the processing equipment, and no matter whether the object loaded by the movable module has undergone a successful processing operation or a failed processing operation, as long as the acquisition result corresponding to the movable module indicates successful loading, and the target device facing the movable module is a material unloading device that matches the type of the loaded object, it is determined that the movable module cooperates with the material unloading device. The material unloading device that matches the type of the loaded object is: a material unloading device used to transfer the loaded object of this type. For example, if the type of the loaded object is Class A, the material unloading device that matches the type of the loaded object is used to transfer Class A objects.

[0215] In an alternative embodiment, see Fig.14 , which is a schematic diagram of the unloading process after processing is completed in an automated production system involving mixed processing technology. Fig.14 In the process, unloading equipment A is used to transfer type A objects, and unloading equipment B is used to transfer type B objects.

[0216] for Fig.14 The mover module 1 in the target device is detected to move to the target position corresponding to the target device ( Fig.14 Schematically shown as "position 14-1"), the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.14The schematic diagram is shown as "loading success"), the characteristic sub-information of Class A objects (such as Fig.14 Schematically shown as “Class A object information”) and processing result information indicating that processing equipment 1 to processing equipment N-1 have all been successfully operated ( Fig.14 Schematically shown as "Processing 1 is successful, processing 3 is successful... processing n-1 is successful"). Since the acquired conveying history information includes the loading result sub-information indicating that the loading device is successfully operated, it can be determined that the acquisition result of the conveying history information indicates that the loading is successful. In addition, since the target device is the unloading device A that matches the type of the loading object, i.e., Class A, it is determined that the mover module 1 cooperates with the unloading device A, thereby controlling the mover module 1 to cooperate with the unloading device A to unload the Class A object loaded by the mover module 1.

[0217] Further, after detecting that the mover module 1 has completed the cooperation with the material unloading device A, the unloading result information indicating that the unloading device A has successfully operated corresponding to the completion of the cooperation action by the mover module 1 is stored as the conveying history information (such as Fig.14 The schematic diagram is shown as “material cutting successful”).

[0218] for Fig.14 The mover module 2 in the target device is detected to move to the target position corresponding to the target device ( Fig.14 Schematically shown as "position 14-2"), the conveying history information obtained in the storage area corresponding to the slave module 2 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.14 The schematic diagram shows “loading success”), the characteristic sub-information of Class B objects (such as Fig.14 Schematically shown as “Class B object information”) and processing result sub-information indicating that processing equipment 2 to processing equipment N are all successfully operated ( Fig.14 Schematically shown as "Processing 2 is successful, processing 4 is successful... processing n is successful"). Since the acquired conveying history information includes the loading result sub-information indicating that the loading device is successfully operated, it can be determined that the acquisition result of the conveying history information indicates that the loading is successful. In addition, since the target device is the unloading device B that matches the type of the loading object, i.e., Class B, it is determined that the mover module 2 cooperates with the unloading device B, thereby controlling the mover module 2 to cooperate with the unloading device B to unload the Class B object loaded by the mover module 2.

[0219] Further, after detecting that the moving module 2 and the unloading device B have completed the cooperation, the unloading result information indicating that the unloading device B has successfully operated corresponding to the completion of the cooperation action by the moving module 2 is stored as the conveying history information (such as Fig.14 The schematic diagram is shown as “material cutting successful”).

[0220] In some embodiments, the multiple operating devices include multiple unloading devices, and the multiple unloading devices are used to transport different types of objects. On this basis, judging whether the mover module cooperates with the target device based on the acquisition result of the conveying history information described in the embodiment of the present application may include: when the acquisition result indicates the object type of the object conveyed by the mover module, if the target device is a unloading device that matches the object type, then judging that the mover module cooperates with the target device.

[0221] In the embodiment of the present application, for the movable submodule loaded with different types of objects, different types of objects are unloaded separately through unloading equipment matched with different types. This is conducive to automatic classification of multiple types of products while producing multiple types of products, and will not increase the complexity of conveying control. It can meet the conveying efficiency requirements of the production of multiple types of products.

[0222] In some embodiments, the multiple operating devices include a first unloading device and a second unloading device; the determination of whether the mover module cooperates with the target device based on the acquisition result of the conveying history information described in the embodiment of the present application includes: when the acquisition result indicates that the object conveyed by the mover module does not have a processing failure operation, if the target device is the first unloading device, then it is determined that the mover module cooperates with the target device. When the acquisition result indicates that the object conveyed by the mover module has a processing failure operation, if the target device is the second unloading device, then it is determined that the mover module cooperates with the target device.

[0223] The first unloading device is used to perform unloading operations on objects that have been successfully processed by all processing equipment, and the second unloading device is used to perform unloading operations on objects that have failed to be processed by one processing equipment.

[0224] See also Fig.15 , Fig.15 It is a schematic diagram of using two unloading devices to unload objects that have been processed successfully and objects that have failed to be processed. Fig.15 In the figure, the material unloading device 1 is the first material unloading device mentioned above, and the material unloading device 2 is the second material unloading device mentioned above.

[0225] Fig.15 The processing device 1 fails to process the object 1 on the moving module 1. When it is detected that the moving module 1 moves to the target position corresponding to the target device ( Fig.15 Schematically shown as "position 15-2")

[0226] When the conveying history information obtained in the storage area corresponding to the slave module 1 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.15 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Fig.15Schematically shown as “object 1 information”) and processing result information indicating that processing equipment 1 failed to process ( Fig.15 Schematically shown as "Processing 1 failed"). Since the acquired conveying history information includes processing result sub-information indicating that processing of processing equipment 1 failed, it can be determined that the acquisition result of the conveying history information indicates that there is a processing failure operation on the conveyed object 1. In addition, since the target device is the unloading device 2, the unloading device 2 is used to perform an unloading operation on an object that has failed to be processed by a processing device, therefore, it is determined that the mover module 1 cooperates with the unloading device 2, so as to control the mover module 1 to cooperate with the unloading device 2 to unload the failed object 1 loaded by the mover module 1.

[0227] Further, after detecting that the moving module 1 and the unloading device 2 have completed the cooperation, the unloading result information indicating that the unloading device 2 has successfully operated corresponding to the completion of the cooperation action by the moving module 1 is stored as the conveying history information (such as Fig.15 The schematic diagram shows "material unloading is successful" in storage area 1).

[0228] Continue reading Fig.15 , when it is detected that the mover module 2 moves to the target position corresponding to the target device ( Fig.15 Schematically shown as "position 15-1"), the conveying history information obtained in the storage area corresponding to the slave module 2 includes: the feeding result sub-information indicating that the feeding device is successfully operated ( Fig.15 The schematic diagram in FIG. 1 shows “loading success”), the characteristic sub-information of object 1 (such as Fig.15 Schematically shown as “object 1 information”) and processing result information indicating that processing equipment 1 to processing equipment N have all successfully processed ( Fig.15 Schematically shown as "Processing 1 is successful... Processing n is successful"). Since the acquired conveying history information includes processing result sub-information indicating that processing equipment 1 to processing equipment N are all successfully processed, it can be determined that the acquisition result of the conveying history information indicates that there is no processing failure operation for the object 1 conveyed by the moving module 2. In addition, since the target device is the unloading device 1, the unloading device 1 is used to perform the unloading operation on the objects that have been successfully processed by all processing devices. Therefore, it is determined that the moving module 2 cooperates with the unloading device 1, so as to control the moving module 2 to cooperate with the unloading device 1 to unload the successfully processed object 1 loaded by the moving module 2.

[0229] Further, after detecting that the moving module 2 and the unloading device 1 have completed the cooperation, the unloading result information indicating that the unloading device 1 has successfully operated corresponding to the completion of the cooperation action by the moving module 2 is stored as the conveying history information (such as Fig.15 The schematic diagram shows "material unloading is successful" in storage area 2).

[0230] In the embodiment of the present application, two unloading devices are used to unload successfully processed objects and failed objects respectively, which is beneficial to distinguish successfully processed objects and failed objects through the difference of unloading devices, saving additional sorting steps and reducing the time and labor costs of subsequent processing.

[0231] In some embodiments, controlling the mover module to collaborate with the target device as described in the embodiments of the present application includes: acquiring a first control parameter, and controlling the mover module to collaborate with the target device according to the first control parameter.

[0232] The first control parameter is a control parameter used to instruct the mover module to cooperate with the target device. The first control parameter may include: a control parameter used to instruct the target device to perform a processing operation and a control parameter used to instruct the mover module to perform a corresponding cooperative action.

[0233] Exemplarily, the control parameters for instructing the target device to perform a processing operation may further include: a processing speed control parameter, a processing duration control parameter, etc. The processing speed control parameter is used to indicate the processing speed when the target device performs the processing operation, and the processing duration control parameter is used to indicate the processing duration that the target device should spend to perform the processing operation.

[0234] Exemplarily, the control parameters for instructing the mover module to perform the corresponding cooperative action may further include: a stationary control parameter or a moving speed control parameter. The stationary control parameter is used to instruct the mover module to be stationary at the target position to cooperate with the target device to complete the processing operation. The moving speed control parameter may be specifically a speed limit value, which is used to instruct the mover module to move slowly near the target position, and the speed of the slow movement should not exceed the speed limit value.

[0235] In some embodiments, controlling the mover module to drive away from the target device according to the embodiments of the present application includes:

[0236] A second control parameter is obtained, and the moving submodule is controlled to move away from the target device and toward the next operating device after the target device according to the second control parameter.

[0237] Among them, the second control parameter is a control parameter used to instruct the moving submodule to drive away from the target device. A mapping relationship is pre-established between the acquisition result of the transport history information and the target device currently facing the moving submodule and the target control parameter. For different acquisition results and target devices, the corresponding second control parameter is configured. Therefore, the second control parameter can be obtained according to the acquisition result of the transport history information and the target device query mapping relationship.

[0238] Exemplarily, the second control parameter includes any one of the following or a combination thereof: speed control data, acceleration control data, time control data, collision avoidance distance control data, and position control data. These control data are introduced below:

[0239] Speed ​​control data is used to indicate the moving speed of the moving submodule during the process of moving to the next operating device; wherein, the moving submodule moving to the next operating device can be understood as: the moving submodule moving from the target position corresponding to the target device to the position corresponding to the next operating device, such as the moving submodule moving to the position facing the next operating device, so as to cooperate with the next operating device. Optionally, the speed control data includes an expected speed value and / or a speed limit value.

[0240] The expected speed value is used to characterize the speed value that the mover module is expected to be at when it reaches the position corresponding to the next operating device. If the second control parameter includes the expected speed value, the mover module can be controlled to move from the target position corresponding to the target device to the position corresponding to the next operating device according to the expected speed value, so that the speed value at which the mover module reaches the position corresponding to the next operating device is the expected speed value.

[0241] The speed limit value is used to characterize the upper speed value that cannot be exceeded and / or the lower speed value that cannot be lower than during the movement of the mover module to the next operating device. If the second control parameter includes an upper speed value, the speed value of the mover module in the process of moving from the target position corresponding to the target device to the next operating device can be controlled not to exceed the upper speed value according to the upper speed value and the current speed of the mover module. If the second control parameter includes a lower speed value, the speed value of the mover module in the process of moving from the target position corresponding to the target device to the next operating device can be controlled not to be lower than the lower speed value according to the lower speed value and the current speed of the mover module. Among them, the process of the mover module moving to the next operating device is also the process of the mover module moving to the position corresponding to the next operating device.

[0242] The acceleration control data is used to indicate the acceleration of the moving submodule during the process of moving to the next operating device. If the second control parameter includes the acceleration control data, the acceleration of the moving submodule during the process of moving from the target position corresponding to the target device to the next operating device can be controlled to be equal to the acceleration indicated by the acceleration control data according to the acceleration control data and the current acceleration of the moving submodule.

[0243] The time control data is used to indicate the time taken by the moving submodule to move to the next operating device. If the second control parameter includes the time control data, the time control data can be used to control the moving submodule to move from the target position corresponding to the target device to the next operating device so that the actual time taken is equal to the time indicated by the time control data.

[0244] Anti-collision distance control data is used to indicate the anti-collision distance between the mover module and other mover modules during the movement of the mover module to the next operating device. The anti-collision distance can be understood as: the distance that prevents the mover module from colliding with other mover modules during the movement. If the second control parameter includes the anti-collision distance control data, the mover module can be controlled to move from the target position corresponding to the target device to the next operating device according to the anti-collision distance control data, and the distance between the mover module and its adjacent mover module is greater than or equal to the above-mentioned anti-collision distance to avoid collisions between the mover modules.

[0245] Position control data, used to indicate the position of the next operating device. If the second control parameter includes the position control data, the mover module can be controlled to move from the target position corresponding to the target device to the position corresponding to the position of the next operating device according to the position control data and the current position of the mover module, so that the mover module cooperates with the next operating device.

[0246] In some optional embodiments, if it is determined that the mover module cooperates with the target device, after the cooperation result between the mover module and the target device indicates that the loading is successful, the object identification of the loaded object is updated to the mover identification of the mover module.

[0247] It is understandable that after the mover module is started, a mover identifier can be automatically assigned to the mover module. In the embodiment of the present application, after the material is successfully loaded, the object identifier of the loaded object can be set as the mover identifier of the mover module, thereby reducing the amount of data, and by determining whether the mover identifier of the mover module is the object identifier of the loaded object, it is possible to more intuitively determine whether the material is successfully loaded, and to more intuitively track the progress of the loaded object. For example, Figure 3 In the example, if the result of the current action completion of the mover module 1 indicates that the material loading is successful, the object identification of the object 1 can be used as the mover identification of the mover module 1.

[0248] In some optional embodiments, taking into account the welding process and the assembly process, objects will be added on the basis of the objects originally loaded on the mover module. Based on this, if it is determined that the mover module collaborates with the target device, then when the collaboration result between the mover module and the target device indicates the addition of new objects, the combination identifier will be updated to the mover identifier of the mover module; wherein the combination identifier includes the identifiers of each object carried by the mover module.

[0249] That is to say, for the assembly process or welding process, the object identification of the preceding object can be retained, the object identification of the succeeding object and the object identification of the preceding object can be combined, and the combined identification obtained by the combination can be updated as the mover identification of the mover module, that is, the combined identification can be used as the latest mover identification of the mover module. Optionally, the object identification of the succeeding object can be used to replace the object identification of the preceding object, and the object identification of the succeeding object can be used as the latest mover identification of the mover module.

[0250] For easier understanding, please refer to Fig.16 , Fig.16 It is a schematic diagram of the operation process of multiple mover modules in an automated production system involving an assembly process.

[0251] for Fig.16 When the target device is determined to be a feeding device, if it is determined that the moving module P-1 cooperates with the feeding device, then the cooperation result between the moving module P-1 and the feeding device indicates adding a new object ( Fig.16 In the case where the identifier of object 1 is schematically shown as “object 1 information”, the identifier of object 1 can be updated to the mover identifier of the mover module P-1.

[0252] for Fig.16 In the mover module P-2, when it is determined that the target device is the processing device 1, if it is determined that the mover module P-2 cooperates with the processing device 1, then the cooperation result between the mover module P-2 and the processing device 1 indicates adding a new object ( Fig.16 In the case where the combined identifier of object 1 and the identifier of object 2 is schematically shown as "object 2 information"), the combined identifier formed by combining the identifier of object 1 and the identifier of object 2 can be updated to the movable sub-module P-2's movable sub-module identifier, that is, the movable sub-module P-2's movable sub-module identifier is updated to the combined identifier of object 1 and object 2.

[0253] for Fig.16 In the mover module 2, when it is determined that the target device is the processing device N, if it is determined that the mover module 2 cooperates with the processing device N, then the cooperation result between the mover module 2 and the processing device N indicates adding a new object ( Fig.16 In the case where the combined identifier formed by the identifiers of objects 1 to n is schematically shown as “object n information”, the identifiers of objects 1 to n can be updated to the movable sub-module 2's movable sub-module identifier, that is, the movable sub-module 2's movable sub-module identifier is updated to the combined identifier of objects 1 to n.

[0254] In the embodiment of the present application, by updating the combination identifier to the mover identifier of the mover module when the collaboration result between the mover module and the target device indicates the addition of a new object, it is helpful to reduce the amount of data and can more intuitively trace the assembly order of the objects.

[0255] The embodiments of the present application also take into account that in actual applications, some situations may occur where the mover identifier is reallocated, which may result in inconsistency between the reallocated mover identifier and the mover identifier assigned when the mover module is started, thereby causing errors in reading the operation history information and affecting the control of the mover module.

[0256] In the specific implementation, the reallocation of the mover identification may occur in the following two scenarios: the application scenario of the mixed conveyor line and the scenario of the linear motor equipment power failure and restart. The following two scenarios are explained respectively:

[0257] According to the splicing of the stator modules, in addition to closed shapes (such as circular, runway, square, etc.), there may also be non-closed shapes (such as S-shaped, straight, C-shaped, etc.) of stator wire bodies. For a single non-closed stator wire body or multiple non-closed stator wire bodies distributed at intervals, a transfer mechanism is required to transfer the mover module from one stator wire body to another, or to transfer the mover module from one end of the stator wire body to the other end of the stator wire body. For cost considerations, the transfer mechanism can use mechanical transmission components (conveyor belt components, chain components, telescopic components) to transfer the mover modules to form a mixed conveyor wire body.

[0258] For a mixed conveyor line, if the positioning module is set along the stator line, when the transfer mechanism transfers the moving sub-module, since the transfer mechanism is not equipped with a positioning module, it is unable to provide the positioning information of the moving sub-module. At this time, the moving sub-module is in a positioning blind spot. When the moving sub-module re-enters the stator line (it may be the original stator line or a new stator line), the control device will regard it as a new moving sub-module and reallocate the moving sub-identity. The reallocated moving sub-identity cannot be guaranteed to be consistent with the originally allocated moving sub-identity (that is, the one allocated when the moving sub-module was started). As a result, the operation history information corresponding to the originally allocated moving sub-identity of the moving sub-module cannot be read, and the operation history information corresponding to the reallocated moving sub-identity may be mistaken for the operation history information of the moving sub-module. For example, refer to Fig.17 Assume that the mover identifier originally assigned to mover module 1 is identifier 1, and the mover identifier later reallocated is identifier 2. The storage areas corresponding to identifiers 1 and 2 are different. Therefore, when reading the operation history information based on the reallocated identifier 2, the original operation history information of mover module 1 cannot be read, and the operation history information originally recorded by identifier 2 (if any) may even be mistaken for the operation history information of mover module 1 (which may actually be the operation history information of another mover), thereby causing errors in the control of mover module 1.

[0259] Although the positioning blind spot can be avoided by deploying the positioning module in the transfer mechanism, as the transfer distance increases, the number of positioning modules that need to be deployed increases accordingly, and the number of movable modules that need to be positioned also increases accordingly, and the positioning accuracy requirements of the positioning module increase accordingly, resulting in an increase in both hardware cost and software computing power. Based on this, in order to solve this technical problem, in the embodiment of the present application, a fixed physical label is set for the movable module, and the physical label can provide the movable module with unique and unchanged label identification information, thereby ensuring accurate reading of the operation history information of the storage area corresponding to the movable module, and because it is not affected by the transfer distance, the hardware cost and software computing power are relatively controllable.

[0260] In some embodiments, the outer surface of each mover module is provided with an identifiable physical tag, and the tag identification information carried by the physical tag is unique and can be used to distinguish the mover module. Based on the moving direction of the mover module and the setting position of the physical tag, a tag identification module is deployed along the stator line. When the mover module corresponds to the tag identification module, the tag identification module identifies the physical tag of the mover module and obtains the tag identification information carried by the physical tag. Among them, the physical tag can be a radio frequency tag (RF) or a QR code tag, and correspondingly, the tag identification module is a radio frequency tag identification module or a QR code tag identification module.

[0261] For example, see Fig.18 , Fig.18 is a schematic diagram of a linear motor device provided with a physical tag and a tag identification module. For ease of explanation, Fig.18 A moving submodule is used as an example for explanation. A physical label is arranged on the outer surface of the moving submodule, and a label identification module is arranged along the stator line based on the moving direction of the moving submodule and the setting position of the physical label.

[0262] In some embodiments, the method for determining the mover identification may include: identifying a physical tag set on the outer surface of the mover module, obtaining the tag identification information carried by the physical tag, and using the tag identification information as the mover identification. In other words, the tag identification information of the mover module can be directly used as the mover identification. On this basis, whether the mover identification is initially assigned when the mover module is started or the mover identification is assigned after restart, the tag identification information is used, which is conducive to maintaining the consistency of the mover identification, thereby avoiding the situation where the operation history information corresponding to the mover identification is read incorrectly.

[0263] In some embodiments, the method for determining the mover identification may include: identifying a physical label set on the outer surface of the mover module, obtaining the label identification information carried by the physical label, and determining the mover identification corresponding to the label identification information, wherein the label identification information is associated with the mover identification automatically assigned to the mover module.

[0264] The mover identification automatically assigned to the mover module includes: the mover identification initially assigned when the mover module is started, and the mover identification reallocated to the mover module when the identification reallocation event is triggered. The identification reallocation event may occur in the above-mentioned application scenario of the hybrid conveyor line or the scenario where the linear motor equipment is powered off and restarted.

[0265] In this example, each time the mover module is assigned a mover identifier, an association relationship is established between the mover identifier assigned this time and the tag identification information of the mover module. Thus, when it is necessary to read the operation history information corresponding to the mover module through the mover identifier, the mover identifier corresponding to the mover module can be queried through the tag identification information of the mover module and the above-mentioned association relationship, and then the complete operation history information corresponding to the mover module can be read through the mover identifier. For example, the tag identification information of the mover module is tag1, and the mover identifiers automatically assigned to the mover module include: identifier 1 and identifier 2. Since tag1, identifier 1 and identifier 2 are associated, identifier 1 and identifier 2 can be queried based on tag1, which is conducive to accurately reading the operation history information corresponding to the mover module based on identifier 1 and identifier 2.

[0266] In some embodiments, the tag identification information and the mover identification can also be combined to store the operation history information, and after the mover identification is reallocated, the historical identification that has established the association relationship is determined through the tag identification information, and the operation history information corresponding to the tag identification information and the historical identification before the identification is reallocated is read based on the tag identification information and the historical identification, thereby avoiding information acquisition errors. The historical identification is the mover identification that has been automatically assigned to the mover module above. For ease of understanding, the following is combined with Fig.19 To explain:

[0267] Fig.19 It is a schematic diagram of the principle of combining tag identification information and mover identification to store operation history information. Take mover module 1 as an example. The tag identification information carried by the physical tag of mover module 1 is recorded as tag identification information 1. It is assumed that the mover identification assigned to mover module 1, that is, the historical identification, is identification 1, and the mover identification reallocated to mover module 1 is identification 2. Both identification 1 and identification 2 are associated with tag identification information 1. After the mover identification is reallocated, identification 1 that has established an association with the tag identification information 1 is determined through tag identification information 1. Based on tag identification information 1 and identification 1, the operation history information corresponding to tag identification information 1 and identification 1 before identification 2 is reallocated is read. The operation history information corresponding to the tag identification information 1 and identification 1 is Fig. 22The operation history information stored in the storage sub-area 1. In this example, it is equivalent to dividing the storage area corresponding to the identifier 1 into multiple storage sub-areas, such as the storage sub-area 1 and the storage sub-area 2 in the figure. The storage sub-area 2 can store the tag identification information 2 and the operation history information corresponding to the identifier 1, and the tag identification information 2 comes from the physical tags of other mover modules. It can be seen that the operation history information corresponding to multiple mover modules can be stored in the storage area corresponding to the identifier 1, which is conducive to the effective use of the storage area, and the operation history information can be read in combination with the tag identification information and the mover identification to avoid information reading errors.

[0268] In some embodiments, before the physical tag set on the outer surface of the above-mentioned identification moving submodule is obtained and the tag identification information carried by the physical tag is obtained, it also includes: binding the moving submodule with the tag identification information carried by the physical tag of the moving submodule through a local control device or a host computer. Through this binding operation, it is helpful for the local control device or the host computer to determine the binding relationship between the tag identification information and the moving submodule, so as to facilitate the subsequent identification of the moving submodule through the tag identification information carried by the physical tag.

[0269] In a specific implementation, the execution subject of the above binding action and the execution subject of the above control method can be the same subject or different subjects. Accordingly, when the execution subject of the above control method and the execution subject of the binding action are different, the binding result needs to be sent to another subject. Among them, the same subject is the above local control device or host computer, and the different subjects are one local control device and the other host computer. The following is an explanation of the binding actions in different situations:

[0270] In the case where the tag identification information is bound to the actuator module through the local control device, if the control method is applied to the host computer, the above control method also includes: receiving the binding result of the tag identification information and the actuator module sent by the local control device. That is to say, in this case, after the local control device executes the binding action, it sends the binding result to the host computer so that the host computer knows the binding result. If the control method is applied to the local control device, it means that the execution subject of the binding action and the execution subject of the above control method can be the same subject. Then, after the local control device executes the binding action, it is not necessary to send the binding result to the host computer.

[0271] In the case where the tag identification information is bound to the actuator module through the host computer, if the control method is applied to the local control device, the above control method also includes: receiving the binding result of the tag identification information and the actuator module sent by the host computer. That is to say, in this case, after the host computer executes the binding action, it sends the binding result to the local control device so that the local control device knows the binding result. If the control method is applied to the host computer, it means that the execution subject of the binding action and the execution subject of the above control method can be the same subject, then after the host computer executes the binding action, it is not necessary to send the binding result to the local control device.

[0272] In some embodiments, the tag identification module is connected to the host computer. In this case, the tag identification information is bound to the moving sub-module through the local control device, including: when the host computer obtains the position information of the moving sub-module, the tag identification module is controlled to perform a tag identification operation and obtain the tag identification information, and the obtained tag identification information is sent to the local control device. The local control device binds the obtained tag identification information to the moving sub-module corresponding to the tag identification module according to the position information of the moving sub-module.

[0273] Among them, the position information of the moving sub-module obtained by the host computer can be sent by the local control device, or can be directly sent by the position measurement device. When the host computer determines that the moving sub-module moves to the position corresponding to the tag identification module based on the position information of the moving sub-module, based on the connection relationship between the host computer and the tag identification module, the host computer sends instructions to the tag identification module to control the tag identification module to perform tag identification operations and obtain the tag identification information sent by the tag identification module. In this example, the binding action is performed by the local control device, so the host computer sends the acquired tag identification information to the local control device, and the local control device binds the acquired tag identification information to the moving sub-module corresponding to the tag identification module based on the position information of the moving sub-module.

[0274] In some embodiments, the tag identification module is connected to the host computer. In this case, the tag identification information is bound to the moving submodule through the host computer, including: when the host computer obtains the position information of the moving submodule, the tag identification module is controlled to perform a tag identification operation and obtain the tag identification information, and the host computer binds the obtained tag identification information to the moving submodule corresponding to the tag identification module. Optionally, the host computer can inform the local control device of the binding result.

[0275] The implementation process of the host computer obtaining the tag identification information is the same as in the above example, and the same part will not be described again to avoid repetition. In this example, the host computer performs the binding action, so after the host computer obtains the tag identification information, it directly binds the obtained tag identification information to the actuator module corresponding to the tag recognition module.

[0276] In some embodiments, the tag identification module is connected to the local control device; in this case, the tag identification information is bound to the moving submodule through the local control device, including: after the local control device obtains the position information of the moving submodule, the tag identification module is controlled to perform a tag identification operation and obtain the tag identification information, and the obtained tag identification information is bound to the moving submodule corresponding to the tag identification module. Optionally, the local control device can inform the host computer of the binding result.

[0277] Among them, after the local control device obtains the position information of the moving submodule, when it is determined that the moving submodule has moved to the position corresponding to the tag identification module, based on the connection relationship between the local control device and the tag identification module, the local control device sends an instruction to the tag identification module to control the tag identification module to perform a tag identification operation and obtain the tag identification information sent by the tag identification module. In this example, the binding action is performed by the local control device, so after the local control device obtains the tag identification information, it directly binds the tag identification information to the moving submodule corresponding to the tag identification module.

[0278] In some embodiments, the tag identification module is connected to the local control device; in this case, the tag identification information is bound to the actuator module through the host computer, including: the local control device sends the acquired tag identification information to the host computer to instruct the host computer to identify the tag identification information and the actuator module corresponding to the tag identification module, and the host computer binds the tag identification information to the actuator module corresponding to the tag identification module.

[0279] In the above scheme, the binding action is performed by the host computer, but the host computer is not connected to the tag identification module, so the host computer cannot directly obtain the tag identification information through the tag identification module. The tag identification module is connected to the local control device, so the local control device can send instructions to the tag identification module to control the tag identification module to perform tag identification operations and obtain the tag identification information sent by the tag identification module. Then the local control device sends the position information of the moving submodule and the obtained tag identification information to the host computer, and the host computer identifies the corresponding tag identification information and the moving submodule corresponding to the tag identification module, and binds the tag identification information to the corresponding moving submodule. The host computer performs the identification and binding actions of the tag identification information, which can reduce the amount of calculation of the local control device when there are multiple tag identification modules.

[0280] It should be noted that the above examples in the embodiments of the present application are only provided for the convenience of understanding and do not constitute a limitation on the technical solutions of the present application.

[0281] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0282] Fig. 20 It is a structural schematic diagram of a control device for a linear motor device provided in an embodiment of the present application.

[0283] For example, Fig. 20 As shown, the control device 600 of the linear motor device includes:

[0284] The acquisition unit 601 is used to acquire the conveying history information corresponding to the movable submodule and obtain an acquisition result when it is detected that the movable submodule moves to the target position corresponding to the target device; wherein the conveying history information is obtained based on the conveying-related operations experienced by the movable submodule before moving to the target position, and the target device is the operating device currently facing the movable submodule among the multiple operating devices.

[0285] The judging unit 602 is configured to judge whether the moving submodule cooperates with the target device based on the acquisition result of the transport history information.

[0286] It is not difficult to find that the embodiment of the present application is a device embodiment corresponding to the above method embodiment, and the embodiment of the present application can be implemented in conjunction with the above method embodiment. The relevant technical details and technical effects mentioned in the above method embodiment are still valid in the device embodiment of the present application, and will not be repeated here to reduce repetition.

[0287] Fig.21 It is a structural schematic diagram of a linear motor device provided in an embodiment of the present application.

[0288] Exemplarily, the linear motor device includes: multiple mover modules 110, a stator wire body 120 and a control device 140; multiple operating devices 130 are distributed around the stator wire body 120; each mover module 110 moves along the stator wire body and passes through each operating device 130; the control device 140 is used to execute the control method of the linear motor device in any of the above method embodiments.

[0289] For example, see Fig.18, the outer surface of the mover module is provided with an identifiable physical tag, and the tag identification information carried by the physical tag is unique and fixed; the linear motor device also includes: a tag identification module connected to the control device, the tag identification module is deployed along the stator line based on the moving direction of the mover module and the setting position of the physical tag; the tag identification module is used to identify the physical tag of the mover module when there is a mover module with a corresponding position, obtain the tag identification information carried by the physical tag, and send it to the control device; the control device is used to determine the storage area corresponding to the mover module based on the tag identification information. For example, in combination with the above description, the control device can determine the mover identification of the mover module based on the tag identification information, and thereby determine the storage area corresponding to the mover module based on the mover identification.

[0290] Exemplarily, the tag identification module is deployed at the upstream position of the first operating device corresponding to the stator line or the starting operating position of the first operating device, and the upstream position is before the starting operating position. Specifically, it can be set on the side, above, opposite side, etc. that preferentially corresponds to the mover module in the first operating device, as long as the tag identification information corresponding to the mover module is obtained before reading or storing the operation history information.

[0291] For example, see Fig.18 , the first operating device can be a loading device, Fig.18 The tag identification module in the stator wire can be considered to be deployed at the upstream position of the loading device corresponding to the stator wire. It is understandable that in the specific implementation, based on the different operation links involved, the first operation device may also be: processing equipment or unloading equipment, and the embodiment of the present application does not make specific limitations on this.

[0292] In an embodiment of the present application, by deploying the tag identification module at the upstream position of the first operating device corresponding to the stator line or the starting operating position of the first operating device, it is beneficial to ensure that the tag identification information corresponding to the mover module has been obtained before the mover module cooperates with the first operating device, thereby facilitating accurate reading of historical operation information based on the tag identification information, improving the accuracy of the mover module movement control, and further improving the transmission efficiency.

[0293] Exemplarily, the linear motor device also includes a transfer mechanism, which is used to transfer the mover module; the label identification module is arranged at a position corresponding to the transfer mechanism, and is used to identify the physical label of the mover module during the process of the transfer mechanism transferring the mover module.

[0294] Among them, the position corresponding to the transfer mechanism is such as the position corresponding to the end of the conveyor belt component connected to the stator line body, the position corresponding to the telescopic component, the position corresponding to the chain component, etc., and the tag recognition module is connected to the transfer mechanism so as to be linked. Alternatively, the tag recognition module is spaced apart from the transfer mechanism so as to keep the position unchanged, so as to ensure that the tag recognition module can recognize the physical tag of the moving submodule before it re-enters the stator line body.

[0295] See also Fig. 22 , Fig. 22 This is a schematic diagram of a tag identification module being arranged at a position corresponding to a transfer mechanism. Fig. 22 As shown, the transfer mechanism is a conveyor belt component, which is located between the stator wire body 1 and the stator wire body 2, and the label identification module is arranged at a position corresponding to the end of the conveyor belt component connected with the stator wire body 2.

[0296] See also Fig.23 , Fig.23 FIG. 1 is another schematic diagram of a tag identification module being arranged at a position corresponding to a transfer mechanism. Fig.23 As shown, the transfer mechanism may include: a base, a conveyor belt component and a telescopic component. The movable module can be transferred from the stator wire body 1 to the stator wire body 2 by controlling the extension and contraction of the telescopic component, and / or the movable module can be transferred from the stator wire body 2 to the stator wire body 1 by controlling the extension and contraction of the telescopic component. Fig.23 The tag identification module is set at the position corresponding to the telescopic component. It can be understood that Fig.23 The moving direction from top to bottom shown is only used to illustrate an optional moving direction of the transfer mechanism, and the embodiment of the present application does not limit the specific moving direction of the transfer mechanism.

[0297] In the embodiment of the present application, by setting a label identification module at a position corresponding to the transfer mechanism, it is beneficial to identify the physical label of the mover module before it re-enters the stator line body to obtain the label identification information, which is beneficial to accurately read the historical operation information based on the label identification information, improve the accuracy of the mover movement control, and further improve the transmission efficiency.

[0298] Exemplarily, the tag identification module is disposed at the end of the stator line body, and is used to identify the physical tag of the mover module when the mover module leaves or enters the stator line body. Thus, it is beneficial to identify the physical tag of the mover module when it leaves or enters the stator line body, so that the historical operation information can be accurately read based on the tag identification information later.

[0299] Exemplarily, the tag identification module includes a first tag identification module and / or a second tag identification module, the first tag identification module is set at a position corresponding to each operating device, and the second tag identification module is set at a position between any two operating devices. The position corresponding to each operating device can be: the upstream position of the operating device or the starting operating position of the operating device.

[0300] In the embodiment of the present application, considering that no matter what the splicing situation of the stator line is, the mover identification will be reallocated after the linear motor device is powered off and restarted, therefore, by setting a label identification module at the position corresponding to each operating device and / or between two operating devices, it is beneficial to be able to identify the physical label of the mover module through the label identification module after the linear motor device is restarted, and then accurately read the historical operation information through the identified label identification information.

[0301] In a specific implementation, the tag identification module and the physical tag can be set in the accommodation space formed between the stator wire body and the mover module, so that the tag identification module and the physical tag can be deployed by rationally utilizing the existing space inside the linear motor device, thereby reducing the overall volume of the linear motor device and providing certain protection for the tag identification module and the physical tag.

[0302] For example, see Fig.24 , Fig.24 The figure is a schematic diagram of the structure of a linear motor device. In the figure, the tag identification module 41 and the physical tag 42 are arranged in the accommodation space 43 formed between the stator filament 20 and the mover module 10 .

[0303] The linear motor device includes a stator line body 20 and a mover module 10, and the mover module 10 is slidably connected to the stator line body 20 along a first direction. The stator line body 20 serves as a track in the linear motor device to support the mover module 10 and to provide movement for the mover module 10. The mover module 10 serves as a carrier in the linear motor device to carry objects and drive the objects to move on the stator line body 20.

[0304] The mover module 10 includes a mover body 11 and a magnet module. The mover body 11 serves as a base of the mover module 10 and has a first surface 111 facing the stator filament 20. The first surface 111 may be a plane, a curved surface, or a combination of a plane and a curved surface.

[0305] The magnet module is a component in the mover module 10 for magnetically cooperating with the armature winding 26 of the stator wire body 20. When alternating current is passed into the armature winding 26 of the stator wire body 20, an alternating magnetic field is generated. The magnet module is magnetically coupled with the energized armature winding 26. Under the action of magnetic force, the magnet module moves to cut the magnetic flux lines in the alternating magnetic field, thereby driving the mover body 11 connected thereto to move relative to the stator wire body 20.

[0306] At least part of the magnet module is used to form a socket 132 for inserting the armature winding 26 of the stator wire body 20. The plane where the socket 132 is located intersects with the first surface 111, that is, the plane where the socket 132 is located is not parallel to the first surface 111. In other words, the plane where the socket 132 is located has a component perpendicular to the first surface 111 (the component is the projection surface of the plane where the socket 132 is located in the plane perpendicular to the first surface 111). For example, the magnet module has a coupling surface for coupling with the armature winding 26 of the stator wire body 20. When the plane where the socket 132 is located is perpendicular to the first surface 111, that is, the angle between the two is 90 degrees, the coupling surface is parallel to the first surface 111.

[0307] The magnet module includes two magnet arrays 131, each magnet array 131 includes a plurality of magnets arranged along a first direction, the mover module 10 also includes a mounting structure 14, the two magnet arrays 131 are spaced apart in a direction perpendicular to the first surface 111 and connected to the mounting structure 14, and a socket 132 for inserting the armature winding 26 of the stator wire body 20 is formed between the two magnet arrays 131. In other words, the socket 132 for inserting the armature winding 26 of the stator wire body 20 is formed by the magnet module alone.

[0308] The mounting structure 14 includes a mounting seat 141 extending along a first direction, the mounting seat 141 having a side surface and two end surfaces perpendicular to the first surface 111, the side surface of the mounting seat 141 extending inwardly to form a groove 1411, and both ends of the groove 1411 extending along the first direction to pass through the end surface of the mounting seat 141. Two magnet arrays 131 are respectively arranged on two oppositely arranged slot side walls of the groove 1411, and the two magnet arrays 131 are spaced to form a socket 132 for inserting the armature winding 26 of the stator wire body 20, and at this time, the plane where the socket 132 is located is parallel to or coincides with the plane where the notch of the groove 1411 is located.

[0309] In some embodiments, the mover module 10 also includes a first guide structure 121 and a second guide structure 122, the first guide structure 121 extends along the first direction and is connected to the first surface 111, the second guide structure 122 extends along the first direction and is connected to the first surface 111, and the magnet module is located between the first guide structure 121 and the second guide structure 122.

[0310] The first guide structure 121 is used as one of the tracks in the mover module 10 for slidingly cooperating with the stator wire body 20, and the second guide structure 122 is used as another track in the mover module 10 for slidingly cooperating with the stator wire body 20. The stator wire body 20 includes a third guide structure 22 that slides with the first guide structure 121, and a fourth guide structure 23 that slides with the second guide structure 122. The specific expression form of the first guide structure 121 and the specific expression form of the second guide structure 122 may be the same or different. When the specific expression form of the first guide structure 121 is the same as the specific expression form of the second guide structure 122, the first guide structure 121 and the second guide structure 122 may include a ball slider 123, and at this time, the third guide structure 22 and the fourth guide structure 23 include a guide rail 24 that slides with the ball slider 123.

[0311] The stator wire 20 includes a stator body 21, a third guide structure 22, a fourth guide structure 23 and an armature winding 26. The third guide structure 22 extends along the first direction and is connected to the stator body 21, and the third guide structure 22 is slidably connected to the first guide structure 121. The fourth guide structure 23 extends along the first direction X and is connected to the stator body 21, and the fourth guide structure 23 is slidably connected to the second guide structure 122. The armature winding 26 is located between the third guide structure 22 and the fourth guide structure 23 and is connected to the stator body 21, and the armature winding 26 is magnetically matched with the magnet module.

[0312] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a control method for a linear motor device provided in an embodiment of the present application.

[0313] The embodiment of the present application can divide the functional units of the device according to the above method example. For example, it can correspond to each functional unit, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0314] It should be understood that the device provided in the embodiment of the present application is used to execute the above-mentioned control method of a linear motor device, and thus can achieve the same effect as the above-mentioned implementation method.

[0315] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a linear motor device, the processing module may be used to control and manage the actions of the linear motor device. The storage module may be used to support the linear motor device to execute program codes, etc.

[0316] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0317] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a control method for a linear motor device provided in the above embodiments.

[0318] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a control method for a linear motor device provided in the above embodiment.

[0319] The embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a control method for a linear motor device provided in the above embodiment.

[0320] Among them, the device, computer-readable storage medium, computer program product or chip provided in the embodiments of the present application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here.

[0321] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above.

[0322] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0323] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A control method for a linear motor device, characterized in that: The linear motor device includes a plurality of mover modules and a stator line body, a plurality of operating devices are distributed around the stator line body, each of the mover modules moves along the stator line body and passes through each of the operating devices, and each of the mover modules is independently controlled; the control method includes: When it is detected that the mover module moves to a target position corresponding to a target device, the conveying history information corresponding to the mover module is acquired to obtain an acquisition result; wherein the conveying history information is obtained based on the conveying-related operations experienced by the mover module before moving to the target position, and the target device is the operating device currently facing the mover module among the multiple operating devices; Based on the acquisition result of the transport history information, it is determined whether the mover module cooperates with the target device.

2. The control method of the linear motor device according to claim 1, characterized in that: After determining whether the mover module cooperates with the target device based on the acquisition result of the transport history information, the method further includes: If it is determined that the mover module cooperates with the target device, controlling the mover module to cooperate with the target device; If it is determined that the mover module does not cooperate with the target device, the mover module is controlled to move away from the target device.

3. The control method of the linear motor device according to claim 2, characterized in that: The controlling the mover module to cooperate with the target device includes: Instruct the target device to perform a processing operation, and control the actuator module to perform corresponding actions for collaboration.

4. The control method of the linear motor device according to claim 1, characterized in that: Before judging whether the moving submodule cooperates with the target device based on the acquisition result of the transport history information, the method further includes: The target device is prohibited from performing processing operations.

5. The control method of the linear motor device according to claim 1, characterized in that: The determining, based on the acquisition result of the transport history information, whether the mover module cooperates with the target device comprises at least one of the following: In the case where the acquisition result indicates that the mover module is in an unloaded state, if the target device is a loading device, determining that the mover module cooperates with the target device; In the case where the acquisition result indicates that the loading is successful, if the target device is a material unloading device, determining that the mover module cooperates with the target device; When the acquisition result indicates that the loading is successful and there is no processing failure operation on the object conveyed by the mover module, if the target device is a processing device, it is determined that the mover module cooperates with the target device.

6. The control method of the linear motor device according to claim 1, characterized in that: The determining, based on the acquisition result of the transport history information, whether the mover module cooperates with the target device comprises at least one of the following: When the acquisition result indicates that the mover module is in a loading state and unloading fails, if the target device is not an unloading device, it is determined that the mover module does not cooperate with the target device; In the case where the acquisition result indicates that the material loading fails, if the target device is a non-material loading device, it is determined that the mover module does not cooperate with the target device; When the acquisition result indicates that the loading is successful and the object conveyed by the mover module has a processing failure operation, if the target device is a processing device, it is determined that the mover module does not cooperate with the target device.

7. The control method of the linear motor device according to claim 1, characterized in that: The plurality of mover modules are used to convey at least two types of objects; the operating equipment includes a processing device for processing objects of a specified type and / or a material unloading device for transferring objects of a specified type; The determining, based on the acquisition result of the transport history information, whether the mover module cooperates with the target device comprises at least one of the following: In the case where the acquisition result indicates successful loading and the object does not have any processing failure operation, if the target device is a processing device that matches the type of the loaded object, determining that the mover module cooperates with the target device; In the case where the acquisition result indicates successful loading, if the target device is a material unloading device that matches the type of the loaded object, it is determined that the mover module cooperates with the target device.

8. The control method of the linear motor device according to claim 1, characterized in that: The plurality of operating devices include a first material unloading device and a second material unloading device; The determining, based on the acquisition result of the transport history information, whether the mover module cooperates with the target device comprises at least one of the following: When the acquisition result indicates that there is no processing failure operation of the object conveyed by the mover module, if the target device is a first unloading device, it is determined that the mover module cooperates with the target device; In a case where the acquisition result indicates that a processing failure operation exists in the object conveyed by the mover module, if the target device is a second unloading device, it is determined that the mover module cooperates with the target device.

9. The control method of the linear motor device according to claim 1, characterized in that: The step of acquiring the transport history information corresponding to the moving submodule to obtain an acquisition result includes: A reading operation is performed on the storage area corresponding to the allocated moving submodule to obtain the acquisition result of the conveying history information.

10. The control method of the linear motor device according to claim 1, characterized in that: Before acquiring the transport history information corresponding to the mover module, the method further includes: Obtaining a mover identification of the mover module; According to the mover identification, a corresponding relationship between the mover module and the storage area is established, and the storage area is used to store the transportation history information.

11. The control method of the linear motor device according to claim 10, characterized in that: The establishing a correspondence between the mover module and the storage area according to the mover identifier includes: Constructing a data structure corresponding to each of the mover modules; wherein the data structure includes a processing operation variable for recording a processing operation condition, and the processing operation variable is associated with the storage area through address mapping; According to the data structure corresponding to each of the mover modules and the mover identifier, a corresponding relationship between the mover modules and the corresponding data structure is established.

12. The control method of the linear motor device according to claim 10, characterized in that: The obtaining of the transport history information corresponding to the mover module includes: Based on the mover identifier and the corresponding relationship, acquiring the transport history information corresponding to the mover module; After acquiring the transport history information corresponding to the mover module, the method further includes: If it is determined that the mover module cooperates with the target device, after detecting that the mover module completes the cooperation with the target device, based on the mover identification of the mover module, the conveying information corresponding to the mover module completing this cooperation action is stored as the conveying history information.

13. The control method of the linear motor device according to claim 10, characterized in that: The method for determining the mover identification includes at least one of the following: Determining a mover identification automatically assigned to the mover module; Identify a physical tag disposed on the outer surface of the mover module, obtain tag identification information carried by the physical tag, and use the tag identification information as a mover identification; Identify the physical label set on the outer surface of the mover module, obtain the label identification information carried by the physical label, and determine the mover identification corresponding to the label identification information, wherein the label identification information is associated with the mover identification automatically assigned to the mover module.

14. The control method of the linear motor device according to claim 13, characterized in that: Different mover identifiers correspond to different storage areas; the mover identifier of the mover module is automatically allocated in the following manner: Determine a first target storage area according to the free capacity of the storage area corresponding to the assignable mover identifier; wherein the first target storage area is a storage area whose free capacity satisfies a preset capacity condition among the storage areas corresponding to the assignable mover identifiers; Using the mover identifier corresponding to the first target storage area as the mover identifier assigned to the mover module; or, Determine a second target storage area according to the storage duration of the information stored in the storage area corresponding to the assignable mover identifier; wherein the second target storage area is a storage area in the storage area corresponding to the assignable mover identifier whose storage duration satisfies a preset duration condition; The mover identifier corresponding to the second target storage area is used as the mover identifier allocated to the mover module.

15. The control method of the linear motor device according to claim 13, characterized in that: The control method is applied to a control device, which is a local control device or a host computer of the linear motor device; Before identifying the physical tag set on the outer surface of the mover module and obtaining the tag identification information carried by the physical tag, the method further includes: The mover module is bound to the tag identification information carried by the physical tag of the mover module through the local control device or the host computer.

16. The control method of the linear motor device according to claim 15, characterized in that: In the case where the tag identification information is bound to the mover module by the local control device, if the control method is applied to the host computer, the method further includes: receiving a binding result of binding the tag identification information to the mover module sent by the local control device; In the case where the tag identification information is bound to the mover module through the host computer, if the control method is applied to the local control device, the method further includes: receiving a binding result sent by the host computer for binding the tag identification information to the mover module.

17. The control method of the linear motor device according to claim 16, characterized in that: The tag identification module is connected to the host computer; The step of binding the tag identification information to the mover module by the local control device includes: When the host computer obtains the position information of the moving sub-module, the host computer controls the tag identification module to perform a tag identification operation and obtain tag identification information, and sends the obtained tag identification information to the local control device, and the local control device binds the obtained tag identification information to the moving sub-module corresponding to the tag identification module according to the position information of the moving sub-module; The step of binding the tag identification information to the mover module through the host computer includes: When the host computer obtains the position information of the moving submodule, the tag recognition module is controlled to perform a tag recognition operation and obtain tag identification information, and the host computer binds the obtained tag identification information to the moving submodule corresponding to the tag recognition module.

18. The control method of the linear motor device according to claim 16, characterized in that: The tag identification module is connected to the local control device; The step of binding the tag identification information to the mover module by the local control device includes: After the local control device obtains the position information of the moving submodule, the tag recognition module is controlled to perform a tag recognition operation and obtain tag identification information, and the obtained tag identification information is bound to the moving submodule corresponding to the tag recognition module; The step of binding the tag identification information to the mover module through the host computer includes: The local control device sends the acquired tag identification information to the host computer to instruct the host computer to identify the tag identification information and the movable module corresponding to the tag identification module, and the host computer binds the tag identification information to the movable module corresponding to the tag identification module.

19. The control method of the linear motor device according to claim 12, characterized in that: If it is determined that the mover module cooperates with the target device, the method further includes at least one of the following: After the cooperation result between the mover module and the target device indicates that the loading is successful, updating the object identification of the loaded object to the mover identification of the mover module; When the result of the collaboration between the mover module and the target device indicates the addition of a new object, the combination identifier is updated to the mover identifier of the mover module; wherein the combination identifier includes identifiers of each object carried by the mover module.

20. The control method of the linear motor device according to claim 2, characterized in that: The controlling the mover module to cooperate with the target device includes: Acquire a first control parameter, and control the mover module to collaborate with the target device according to the first control parameter; The controlling the mover module to drive away from the target device comprises: A second control parameter is acquired, and according to the second control parameter, the moving submodule is controlled to move away from the target device and toward a next operating device after the target device.

21. The control method of the linear motor device according to claim 20, characterized in that: The second control parameter includes any one of the following or a combination thereof: Speed ​​control data, acceleration control data, time control data, anti-collision distance control data, position control data; Wherein, the speed control data is used to indicate the moving speed of the mover module in the process of moving to the next operating device; the speed control data includes an expected speed value and / or a speed limit value; the expected speed value is used to characterize the speed value expected to be at when the mover module reaches the position corresponding to the next operating device; the speed limit value is used to characterize the upper limit speed value that cannot be exceeded and / or the lower limit speed value that cannot be lowered in the process of the mover module moving to the next operating device; The acceleration control data is used to indicate the acceleration of the mover module during the process of moving to the next operating device; The time control data is used to indicate the time taken by the mover module to move to the next operating device; The anti-collision distance control data is used to indicate the anti-collision distance between the mover module and other mover modules during the process of the mover module moving to the next operating device; The position control data is used to indicate the position of the next operating device.

22. The control method of the linear motor device according to claim 1, characterized in that: The method further comprises: If the target device is a material unloading device, after the mover module cooperates successfully with the material unloading device, a corresponding relationship is established between the conveying history information of the mover module and the object unloaded by the material unloading device.

23. A control device for a linear motor device, characterized in that: The linear motor device comprises: A plurality of mover modules and a stator line body, a plurality of operating devices are distributed around the stator line body, each of the mover modules moves along the stator line body and passes through each of the operating devices, and each of the mover modules is independently controlled; the control device includes: an acquisition unit, configured to acquire the conveying history information corresponding to the mover module and obtain an acquisition result when it is detected that the mover module moves to a target position corresponding to a target device; wherein the conveying history information is obtained based on the conveying-related operations experienced by the mover module before moving to the target position, and the target device is the operating device currently facing the mover module among the multiple operating devices; A judging unit is used to judge whether the moving submodule cooperates with the target device based on the acquisition result of the transport history information.

24. A linear motor device, characterized in that: include: Multiple mover modules, stator filaments and control devices; A plurality of operating devices are distributed around the stator wire body; Each of the mover modules moves along the stator line and passes through each of the operating devices; The control device is used to execute the control method of the linear motor device according to any one of claims 1 to 22.

25. The linear motor device according to claim 24, characterized in that An identifiable physical label is provided on the outer surface of the mover module, and the label identification information carried by the physical label is unique and fixed; The linear motor device further comprises: a tag identification module connected to the control device, The tag identification module is deployed along the stator line based on the moving direction of the mover module and the setting position of the physical tag; The tag recognition module is used to identify the physical tag of the mover module when there is a mover module with a corresponding position, obtain the tag identification information carried by the physical tag, and send it to the control device; The control device is used to determine the storage area corresponding to the mover module based on the tag identification information.

26. The linear motor device according to claim 25, characterized in that The tag identification module is deployed at an upstream position of a first operating device corresponding to the stator wire or at a starting operating position of the first operating device, and the upstream position is before the starting operating position.

27. The linear motor device according to claim 25, characterized in that The tag identification module and the physical tag are arranged in a receiving space formed between the stator wire body and the mover module.

28. The linear motor device according to claim 25, characterized in that The linear motor device further includes a transfer mechanism, and the transfer mechanism is used to transfer the mover module; The label identification module is arranged at a position corresponding to the transfer mechanism, and is used for identifying the physical label of the mover module during the process of the transfer mechanism transferring the mover module.

29. The linear motor device according to claim 25, characterized in that The label identification module is arranged at the end of the stator wire body, and is used for identifying the physical label of the mover module when the mover module leaves or enters the stator wire body.

30. The linear motor device according to claim 25, characterized in that The tag identification module includes a first tag identification module and / or a second tag identification module. The first tag identification module is arranged at a position corresponding to each of the operating devices, and the second tag identification module is arranged at a position between any two of the operating devices.

31. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an executable program code, and when the executable program code is executed, the method according to any one of claims 1 to 22 is implemented.

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