Linear motor equipment, control methods, devices and readable storage media thereof

Abstract

This application provides a linear motor device and its control method, apparatus, and readable storage medium. The linear motor device includes multiple moving sub-modules and a stator line. Multiple operating devices are distributed around the stator line. Each moving sub-module moves along the stator line and passes through each operating device. The method includes: when a moving sub-module is detected to have moved to a target position corresponding to a target device, acquiring the conveying history information corresponding to the moving sub-module and obtaining an acquisition result; wherein, the conveying history information is obtained based on the conveying-related operations experienced by the moving sub-module before moving to the target position, and the target device is the operating device currently facing the moving sub-module among the multiple operating devices; based on the acquisition result of the conveying history information, determining whether the moving sub-module cooperates with the target device. This method can reduce the impact of operating devices with long operation times on conveying, thereby improving the conveying efficiency of the moving sub-module and thus improving production efficiency.

Description

Technical Field

[0001] This application relates to the field of transportation control technology, and in particular to a linear motor device and its control method, apparatus and readable storage medium. Background Technology

[0002] In existing automated production systems, mechanical transmission equipment (such as belt conveyors) is used to transport objects, and operating equipment is set up at different stages (such as loading, processing, and unloading) to perform corresponding processing operations.

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

[0004] This application provides a linear motor device and its control method, apparatus and readable storage medium. The method can reduce the impact of long-operation equipment on conveying, thereby improving the conveying efficiency of the moving module and thus improving production efficiency.

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

[0006] Secondly, a control device for a linear motor device is provided, the linear motor device comprising:

[0007] The system comprises multiple moving sub-modules and a stator line, with multiple operating devices distributed around the stator line. Each moving sub-module moves along the stator line and passes through each of the operating devices, and each moving sub-module is independently controlled. The control device includes: an acquisition unit, used to acquire the transport history information corresponding to the moving sub-module when it is detected that the moving sub-module has moved to a target position corresponding to a target device, and obtain an acquisition result; wherein the transport history information is obtained based on the transport-related operations experienced by the moving sub-module before moving to the target position, and the target device is the operating device currently facing the moving sub-module among the multiple operating devices; and a judgment unit, used to determine whether the moving sub-module cooperates with the target device based on the acquisition result of the transport history information.

[0008] Thirdly, a linear motor device is provided, comprising: a plurality of moving sub-modules, a stator line, and a control device; a plurality of operating devices are distributed around the stator line; each of the moving sub-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 described in the first aspect.

[0009] Fourthly, a computer-readable storage medium is provided, in which at least one piece of program code is stored, the program code being 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 this application embodiment, since the conveying history information corresponding to the moving sub-module is obtained based on the conveying-related operations experienced by the moving sub-module before moving to the target position corresponding to the target device, it can characterize the operation status of the conveying-related operations previously experienced by the moving sub-module. Therefore, by obtaining the conveying history information corresponding to the moving sub-module, the historical operation status of the moving sub-module can be traced. Thus, based on the acquisition results of the conveying history information, it is beneficial to accurately determine whether the moving sub-module needs to cooperate with the current target device according to the traced historical operation status of the moving sub-module, avoiding unnecessary cooperation between the moving sub-module and the target device, thereby saving conveying time. Furthermore, since multiple moving sub-modules of the linear motor device are independently controlled, that is, the movement control of one moving sub-module is not constrained by the movement control of another moving sub-module, the movement stroke of different moving sub-modules can be flexibly controlled according to the acquisition results of the conveying history information of moving sub-modules arriving at the target position at different times, to ensure that each moving sub-module cooperates with the necessary target device. Therefore, adopting the technical solution provided in this application embodiment can improve the conveying efficiency of the moving sub-module, thereby improving production efficiency. Attached Figure Description

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

[0012] Figure 2 This is a schematic flowchart of a control method for a linear motor device provided in an embodiment of this application;

[0013] Figure 3 This is a schematic diagram illustrating the normal operation process of a moving submodule in an automated production system involving cutting processes, as provided in an embodiment of this application.

[0014] Figure 4 This is a schematic diagram illustrating the normal operation process of multiple moving sub-modules in an automated production system involving cutting processes, provided in an embodiment of this application.

[0015] Figure 5 This is a schematic flowchart of another control method for a linear motor device provided in an embodiment of this application;

[0016] Figure 6 This is a schematic diagram of a scenario involving a material loading operation, provided in an embodiment of this application;

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

[0018] Figure 8 This is a schematic diagram illustrating the normal operation process of a moving submodule in an automated production system involving logistics transportation, as provided in an embodiment of this application.

[0019] Figure 9 This is a schematic diagram of the operation flow of a sub-module in an automated production system involving cutting processes in the event of a machining failure, provided by an embodiment of this application.

[0020] Figure 10 This is a schematic diagram illustrating the operation flow of a moving submodule in the event of a material feeding failure, provided in an embodiment of this application.

[0021] Figure 11 This is a schematic diagram of the operation flow of the moving submodule 1 in an automated production system involving hybrid processing technology, provided in an embodiment of this application.

[0022] Figure 12 This is a schematic diagram of the operation flow of the moving submodule 2 in an automated production system involving hybrid processing technology, provided in an embodiment of this application.

[0023] Figure 13 This is a schematic diagram illustrating the operation flow of multiple moving sub-modules in an automated production system involving hybrid processing technology, as provided in an embodiment of this application.

[0024] Figure 14This is a schematic diagram of the unloading process after processing in an automated production system involving mixed processing technology, provided in an embodiment of this application.

[0025] Figure 15 This is a schematic diagram illustrating an embodiment of the present application that uses two unloading devices to unload successfully processed objects and unprocessed objects respectively;

[0026] Figure 16 This is a schematic diagram illustrating the operation flow of multiple moving sub-modules in an automated production system involving assembly processes, as provided in an embodiment of this application.

[0027] Figure 17 This is a schematic diagram of a storage area after reallocation of the mover identifier provided in an embodiment of this application;

[0028] Figure 18 This is a schematic diagram of a linear motor device equipped with a physical tag and a tag recognition module, provided in an embodiment of this application;

[0029] Figure 19 This is a schematic diagram illustrating the principle of storing operation history information by combining tag identification information and mover identification information, as provided in an embodiment of this application.

[0030] Figure 20 This is a schematic diagram of the structure of a control device for a linear motor device provided in an embodiment of this application;

[0031] Figure 21 This is a schematic diagram of the structure of a linear motor device provided in an embodiment of this application;

[0032] Figure 22 This is a schematic diagram of a tag recognition module provided in this application embodiment being installed at a location corresponding to the transfer mechanism;

[0033] Figure 23 This is another schematic diagram showing the tag recognition module provided in this application embodiment being installed at the location corresponding to the transfer mechanism;

[0034] Figure 24 This is a schematic diagram of another linear motor device provided in an embodiment of this application. Detailed Implementation

[0035] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0036] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting 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 that feature.

[0037] In existing automated production systems, mechanical transmission equipment (such as belt conveyors) is used to transport objects, and operating equipment is set up at different stages (such as loading, processing, and unloading) to perform corresponding processing operations.

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

[0039] Based on this, embodiments of this application provide a control method for a linear motor device. This method utilizes multiple moving sub-modules of the linear motor device for object transport. When a moving sub-module is detected to have moved to a target position corresponding to a target device, the transport history information corresponding to the moving sub-module is acquired, and the acquisition result is obtained. Based on the acquisition result, it is determined whether the moving sub-module should cooperate with the target device. Since the transport history information corresponding to the moving sub-module is based on the transport-related operations experienced by the moving sub-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 moving sub-module. Therefore, by acquiring the transport history information corresponding to the moving sub-module, the historical operation status of the moving sub-module can be traced. Thus, based on the acquisition result of the transport history information, it is beneficial to accurately determine whether the moving sub-module needs to cooperate with the current target device according to the traced historical operation status of the moving sub-module, avoiding unnecessary cooperation between the moving sub-module and the target device, thereby saving transport time. Furthermore, since the multiple moving sub-modules of the linear motor equipment are independently controlled, the movement control of one moving sub-module is not constrained by the movement control of another. The movement stroke of different moving sub-modules can be flexibly controlled based on the historical information of the moving sub-modules arriving at the target position at different times, ensuring that each moving sub-module cooperates with the necessary target equipment. Therefore, the technical solution provided in this application can improve the conveying efficiency of the moving sub-modules, thereby improving production efficiency.

[0040] The application scenarios of the embodiments of this application will be described below first.

[0041] Please refer to Figure 1 This is a schematic diagram of a scenario for a control method of a linear motor device provided in an exemplary embodiment of this application.

[0042] like Figure 1 As shown, the control method provided in this application embodiment is applied to a linear motor device, which includes: multiple moving sub-modules 110 and a stator line 120. Multiple operating devices 130 are distributed around the stator line 120. Each moving sub-module 110 moves along the stator line 120 according to its moving direction and passes through each operating device 130, and each moving sub-module 110 is independently controlled.

[0043] For example, each moving submodule 110 can be controlled by a local control device ( Figure 1The local control device (not shown in the diagram) is controlled by a host computer. Furthermore, the local control device can also be connected to a host computer for communication and interaction. The host computer can be a PLC (Programmable Logic Controller) or a PC (Personal Computer). The control method in this embodiment can be applied to electronic devices with control functions (i.e., control devices). These control devices can be local control devices or host computers; this embodiment does not specifically limit their application.

[0044] It is understood that the stator line body can be obtained by splicing multiple stator modules. The shape of the stator line body formed by splicing stator modules along the moving direction of the moving module can be a straight line, an arc, or a combination of both. It should be noted that, for ease of understanding, the straight line portion of the stator line body is described in the embodiments of this application. Other shapes of the stator line body, or stator line bodies with other shapes, can be deduced by analogy with the descriptions in the embodiments of this application.

[0045] When linear motor equipment is applied to automated production systems, it can handle both loading and unloading of objects, thus achieving the function of material transport. Furthermore, it can also be involved in the processing of objects, thereby achieving the function of collaborative processing. It is understood that the embodiments of this application do not impose specific limitations on the specific application scenarios of the linear motor equipment.

[0046] Furthermore, the operational steps involved in the linear motor device in this embodiment are related to the operational devices deployed along the stator line. For example, among the multiple operational devices 130, at least one loading device and at least one unloading device may be included, and the linear motor device then undergoes the loading and unloading of objects. If the multiple operational devices 130 also include processing equipment, the linear motor device may also involve the processing of objects.

[0047] For example, the linear motor device may also include a positioning module ( Figure 1 (Not shown in the image) This positioning module is used to measure the position of each moving submodule 110, thereby achieving position positioning of each moving submodule 110. In terms of sensing method, the positioning module may include contact sensors or non-contact sensors; in terms of measurement principle, the positioning module can perform measurements using one or more of the following methods: optical, electrical, and magnetic. For example, the positioning module may include one or more combinations of: resistance sensors, capacitance sensors, inductive sensors, laser sensors, photoelectric sensors, magnetic sensors, encoders, image sensors, and ultrasonic sensors. This embodiment does not impose any limitations on these methods.

[0048] It is understood that, depending on the specific sensor type included in the positioning module, the positioning module (or some components of the positioning module) may be located in at least one of the stator and the moving part, or the positioning module (or some components of the positioning module) may be located independently of the linear motor device.

[0049] The following explains the principle by which the stator line 120 drives the motion of the drive submodule 110.

[0050] The moving module 110 includes a magnetic component with a magnetic field. Figure 1 (Not shown in the image), the stator winding 120 may include an armature winding ( Figure 1 (Not shown in the diagram) The armature winding may contain multiple coils arranged in phase sequence. By periodically energizing the armature winding, the magnetic field around the armature winding is changed, interacting with the magnetic field of the magnetic components of the moving submodule 110 to drive the moving submodule 110 to move. For example, the moving submodule 110 may include a permanent magnet array to generate a constant magnetic field. By controlling the energizing direction and / or the magnitude of the energizing current of the coils in the armature winding, a changing magnetic field can be generated around the armature winding. This changing magnetic field interacts with the constant magnetic field, driving the moving submodule 110 to move relative to the stator winding 120.

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

[0052] It should be noted that, Figure 1 This is an optional example provided to illustrate the structure and driving method of a linear motor device. The structure and driving method of the linear motor device involved in the embodiments of this application can be adjusted and modified according to the actual situation. The embodiments of this application do not limit the specific structure or driving method of the linear motor device.

[0053] Before the linear motor equipment is put into operation, the movement stroke of the moving module through each operating device and the specific cooperation process between the moving module and each operating device need to be pre-configured in the control device of the linear motor equipment. However, as the number of operation links increases, the total time for the moving module to complete one round of conveying through each operating device increases.

[0054] Based on this, the conveying history information of the moving submodule can be used to improve the conveying efficiency of the moving submodule, thereby improving production efficiency. The specific implementation of the control method for the linear motor equipment according to an embodiment of this application will be described below with reference to specific examples.

[0055] Please refer to Figure 2 This is a schematic flowchart of a control method for a linear motor device provided in an exemplary embodiment of this application.

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

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

[0058] Since the moving submodule may face different operating devices at different times, the target device can be understood as the operating device that the moving submodule is facing at that moment. Specifically, the operating device that the moving submodule is facing at that moment can be one of several operating devices distributed around the stator line. Please refer to [reference needed]. Figure 1 The target device can be one of the various operating devices 130.

[0059] Based on the operating area or starting operating position of the operating device, a trigger position can be set along the stator line to trigger the acquisition of historical operating information of the operating submodule. This trigger position can be located at the boundary of the operating area, inside the operating area, upstream of the operating area, or at the starting operating position of the operating device, etc. This embodiment does not impose specific limitations on this. Correspondingly, the target position can be understood as the trigger position set along the stator line when the operating device is the target device. Depending on the type of operation performed by the operating device, it can be a loading device, a processing device, or a unloading device.

[0060] Specifically, position detection can be used to determine whether the moving sub-module has moved to the target position corresponding to the target device. In specific implementation, the positioning module of the linear motor device can be used to determine whether the moving sub-module has moved to the target position. Alternatively, other position detection modules set inside or outside the linear motor device can be used to determine whether the moving sub-module has moved to the target position. Or, the moving sub-module can be determined based on the moving sub-detection signal fed back from the operating device. The moving sub-detection signal can be generated by the operating device when it detects that the moving sub-module exists at the target position.

[0061] For example, the control device of a linear motor can determine whether the moving sub-module has moved to the target position corresponding to the operating device based on the actual position of the moving sub-module measured by the positioning module and the actual position of the operating device.

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

[0063] After detecting that the moving submodule has moved to the target position corresponding to the target device, the historical information of the moving submodule is obtained to trace the historical information of the moving submodule, thereby improving the accuracy of the moving submodule control, ensuring the high efficiency of the cooperation between the moving submodule and the target device, and thus improving the transmission efficiency.

[0064] The conveying history information can be read by the local control module or the host computer of the linear motor equipment. This conveying history information is based on the conveying-related operations performed by the moving submodule before moving to the target position. In other words, the conveying history information, derived from the conveying-related operations performed by the moving submodule before moving to the target position, characterizes the operational status of the conveying-related operations performed by the moving submodule prior to its arrival. These prior conveying-related operations may include processing operations performed by the operating equipment that the moving submodule may have undergone before moving to the target position. It is understood that if the moving submodule has not undergone any prior conveying-related operations, the conveying history information can be blank.

[0065] For example, the historical transmission information can be generated based on the operation result information sent by the operating device to the linear motor device, or it can be detected by the linear motor device based on its included operation detection module or an externally set operation detection module. It is understood that in practical applications, the operation detection module and the aforementioned position detection module can be implemented by the same hardware module, or they can be implemented by different hardware modules.

[0066] For example, the specific content of the transport history information is related to the specific operation type of the operating equipment before the moving submodule reaches the target position. The transport history information includes at least one of the following: transport result sub-information, which specifically includes at least one of the following: loading result sub-information indicating whether the loading operation was successful, unloading result sub-information indicating whether the unloading operation was successful, and processing result sub-information indicating whether the processing operation was successful.

[0067] For loading or unloading operations, the conveying history information may further include: object feature sub-information of the loaded or unloaded object, which can be used to characterize the object's physical data and / or to distinguish the object. For example, sub-information characterizing the object's physical data may include: object weight, object size, object shape, etc. Sub-information distinguishing the object may include: object identification sub-information, etc. The object weight, object size, and object shape sub-information can be obtained by querying the object identification sub-information.

[0068] For machining operations, the transmitted historical information may also include: machining process sub-information, such as sub-information used to characterize specific process types, sub-information used to indicate the workpiece being machined, and / or sub-information used to provide parameters required for the machining process. For example, machining process sub-information may include: process type sub-information, machined feature sub-information, machining parameter sub-information, etc. Process type sub-information can be used to characterize cutting process types, welding process types, assembly process types, etc., and cutting process types can further characterize one or more process types among turning, milling, planing, and grinding.

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

[0070] For welding and assembly processes, additional objects will be added to the original objects loaded in the moving sub-module. The processed feature sub-information can indicate at least one of the feature information of the original object and the feature information of the newly added object. The feature information of the original object includes the original object weight sub-information, the original object size sub-information, the original object shape sub-information, and the original object identification sub-information. The feature information of the newly added object includes the newly added object weight sub-information, the newly added object size sub-information, the newly added object shape sub-information, and the newly added object identification sub-information.

[0071] Step 202: Based on the results of obtaining historical transmission information, determine whether the moving submodule is cooperating with the target device.

[0072] It is understandable that the results of acquiring historical transmission information can characterize the operational status of the transmission-related operations previously experienced by the moving submodule. Therefore, the results of acquiring historical transmission information determine whether the moving submodule needs to cooperate with the target device it is currently facing. In other words, in this embodiment, when the moving submodule faces the target device, it does not directly control the moving submodule to cooperate with the target device. Instead, it first determines whether the moving submodule needs to cooperate with the target device based on the results of acquiring historical transmission information, avoiding unnecessary cooperation between the moving submodule and the target device, thereby saving transmission time.

[0073] When the target device is a feeding device, determining whether the moving submodule cooperates with the target device can be understood as determining whether the moving submodule cooperates with the feeding device. Cooperation between the moving submodule and the feeding device can be understood as the actions that the moving submodule needs to perform to enable the feeding device to complete the feeding operation. Specifically, this cooperation can be the moving submodule remaining stationary at the target position waiting for the feeding device to complete the feeding operation, or the moving submodule moving near the target position to cooperate with the feeding device to complete the feeding operation.

[0074] When the target device is a processing device, determining whether the moving submodule cooperates with the target device can be understood as determining whether the moving submodule cooperates with the processing device. Cooperation between the moving submodule and the processing device can be understood as the actions that the moving submodule needs to perform in order for the processing device to complete the processing operation. Specifically, this cooperation could mean the moving submodule remaining stationary at the target position waiting for the processing device to complete the processing operation, or moving near the target position to cooperate with the processing device to complete the processing operation.

[0075] When the target device is a feeding device, determining whether the moving submodule cooperates with the target device can be understood as determining whether the moving submodule cooperates with the feeding device. Cooperation between the moving submodule and the feeding device can be understood as the actions that the moving submodule needs to perform to enable the feeding device to complete the feeding operation. Specifically, this cooperation could mean the moving submodule remaining stationary at the target position waiting for the feeding device to complete the feeding operation, or moving near the target position to cooperate with the feeding device in completing the feeding operation.

[0076] In this embodiment, the conveying history information corresponding to the moving sub-module is obtained based on the conveying-related operations experienced by the moving sub-module before it moves to the target position corresponding to the target device. This information characterizes the prior conveying-related operations experienced by the moving sub-module, thus allowing for the tracing of its historical operations. Therefore, based on the acquisition results of the conveying history information, it is beneficial to accurately determine whether the moving sub-module needs to cooperate with the current target device, avoiding unnecessary cooperation and saving conveying time. Furthermore, since multiple moving sub-modules of the linear motor device are independently controlled—meaning the movement control of one moving sub-module is not constrained by the movement control of another—the movement stroke of different moving sub-modules can be flexibly controlled based on the conveying history information of moving sub-modules arriving at the target position at different times, ensuring that each moving sub-module cooperates with the necessary target device. Therefore, the technical solution provided in this embodiment can improve the conveying efficiency of the moving sub-module, thereby improving production efficiency.

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

[0078] In some embodiments, the method for determining whether a moving submodule has moved to a target position corresponding to a target device, as described in this application, may include: determining whether the moving submodule has moved to the target position based on at least one of the distance and angular deviation between the moving submodule and the target position. For example, when the distance between the center of the moving submodule and the target position is less than a preset distance threshold, and / or when the angle between the central axis of the moving submodule and the perpendicular 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 moving submodule has moved to the target position.

[0079] In some embodiments, the method for determining whether the moving submodule has moved to the target position corresponding to the target device may include: setting an entity marker at the target position, and when the position detection module recognizes that the moving submodule is aligned with the entity marker, it can be determined that the moving submodule has moved to the target position corresponding to the target device.

[0080] It should be noted that the above embodiments are only a few implementation methods provided to facilitate understanding of how to determine whether the moving submodule has moved to the target position corresponding to the target device. In specific implementations, the implementation methods for determining whether the moving submodule has moved to the target position corresponding to the target device are not limited to these.

[0081] It is understood that in the step of determining whether the moving submodule cooperates with the target device based on the acquisition result of the transmission history information described in this application embodiment, there are two determination results: the first determination result is that the moving submodule cooperates with the target device, and the second determination result is that the moving submodule does not cooperate with the target device. Different control operations will be performed in this application embodiment for these two determination results, which will be explained in detail below:

[0082] For example, in the embodiments of this application, after determining whether the moving submodule cooperates with the target device based on the acquisition result of the transmission history information, the method further includes: if it is determined that the moving submodule cooperates with the target device, then controlling the moving submodule to cooperate with the target device; if it is determined that the moving submodule does not cooperate with the target device, then controlling the moving submodule to drive away from the target device.

[0083] If it is determined that the moving submodule needs to cooperate with the target device, it means that the corresponding conveying history information of the moving submodule determines that the moving submodule needs to cooperate with the target device. Therefore, the moving submodule is controlled to cooperate with the target device to complete the relevant processing operations. For example, when the target device is a feeding device, if it is determined that the moving submodule cooperates with the feeding device, the moving submodule is controlled to cooperate with the feeding device to complete the feeding operation. When the target device is a discharging device, if it is determined that the moving submodule cooperates with the discharging device, the moving submodule is controlled to cooperate with the discharging device to complete the discharging operation. When the target device is a processing device, if it is determined that the moving submodule cooperates with the processing device, the moving submodule is controlled to cooperate with the processing device to complete the processing operation.

[0084] If it is determined that the moving submodule does not cooperate with the target device, it means that the corresponding transport history information of the moving submodule determines that the moving submodule does not need to cooperate with the target device it is currently facing. In this case, the moving submodule is controlled to move away from the target device so that the moving submodule can move to the next operating device.

[0085] In this embodiment, when it is determined that the moving submodule needs to cooperate with the target device, the moving submodule is controlled to cooperate with the target device; when it is determined that the moving submodule does not need to cooperate with the target device, the moving submodule is controlled to drive away from the target device. This helps to ensure that the moving submodule only cooperates with the target device that currently needs to cooperate, and does not cooperate with the target device that does not currently need to cooperate. This improves the necessity and effectiveness of the moving submodule cooperating with the target device, avoids unnecessary cooperation between the moving submodule and the target device, and thus saves transportation time.

[0086] In some optional embodiments, the control submodule described in this application cooperates with the target device, including: instructing the target device to perform processing operations and controlling the control submodule to perform corresponding actions to cooperate.

[0087] The processing operations performed by the target equipment may include at least one of the following: loading operation, processing operation, and unloading operation. For details, please refer to the descriptions in the relevant sections above; they will not be repeated here.

[0088] In this embodiment of the application, when it is determined that the moving submodule needs to cooperate with the target device, the target device is instructed to perform a processing operation, and the moving submodule is controlled to perform corresponding actions to cooperate, so that the target device and the moving submodule can cooperate, thereby improving the degree of automation and work efficiency.

[0089] In some optional embodiments, the instruction to the target device to perform a processing operation as described in this application includes: sending arrival information of the moving submodule to the target device, and / or sending permission information to the target device to perform the operation, so as to instruct the target device to perform the processing operation.

[0090] For example, when it is determined that the moving submodule is cooperating with the target device, the control device can send arrival information of the moving submodule to the target device, so that the target device can confirm the arrival of the moving submodule based on the arrival information. Therefore, the target device can perform processing operations after receiving the arrival information.

[0091] For example, when the control device determines that the moving submodule is cooperating with the target device, it can send an operation permission message to the target device, allowing the target device to confirm that a processing operation can be performed based on this message. Therefore, the target device can perform the processing operation upon receiving the operation permission message.

[0092] For example, when it is determined that the moving submodule is cooperating with the target device, the control device can simultaneously send an execution permission message to the target device, indicating the arrival of the moving submodule. This allows the target device to confirm the arrival of the moving submodule based on the arrival information and to confirm that it should cooperate with the moving submodule. In other words, the target device can be informed of multi-dimensional information, which facilitates more precise instructions to the target device to perform processing operations. Therefore, the target device can perform processing operations after receiving both the execution permission message and the moving submodule arrival information.

[0093] In some optional embodiments, the control of the moving submodule to leave the target device as described in this application includes: prohibiting the sending of arrival information of the moving submodule, and / or sending a prohibition operation information to the target device to prevent the target device from cooperating with the moving submodule and controlling the moving submodule to leave the target device.

[0094] For example, when it is determined that the moving submodule does not cooperate with the target device, the sending of the moving submodule's arrival information to the target device is prohibited, so that the target device will not perform related processing operations if it does not receive the arrival information, and the moving submodule is controlled to drive away from the target device to prevent the moving submodule from cooperating with the target device, thereby avoiding the moving submodule 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 example, when it is determined that the moving submodule does not cooperate with the target device, the control device can send a prohibition operation information to the target device, so that the target device will not perform the relevant processing operation upon receiving the prohibition operation information, and control the moving submodule to drive away from the target device to prevent the moving submodule from cooperating with the target device, thereby avoiding the moving submodule 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 a moving submodule is detected to have arrived at the target location, the target device may directly execute related processing operations. Therefore, to avoid the target device starting to execute related processing operations before determining whether the moving submodule is cooperating with the target device, the method described in this application embodiment, based on the acquisition results of historical transmission information, may further include: prohibiting the target device from executing processing operations.

[0097] For example, after detecting that the moving submodule has moved to the target position corresponding to the target device, the target device can be prevented from performing processing operations first, and then the step of determining whether the moving submodule is cooperating with the target device based on the results of obtaining historical transmission information can be executed. Alternatively, when detecting that the moving submodule has moved to the target position corresponding to the target device, the step of preventing the target device from performing processing operations and the step of determining whether the moving submodule is cooperating with the target device based on the results of obtaining historical transmission information can be executed simultaneously.

[0098] In some optional embodiments, the implementation method of prohibiting the target device from performing processing operations as described in the embodiments of this application may include: sending a prohibition operation information to the target device to prohibit the target device from performing processing operations.

[0099] In this embodiment of the application, after the moving submodule is detected to have moved to the target position corresponding to the target device, i.e., the moving submodule has arrived at the corresponding position of the target device, the target device is first prohibited from performing processing operations. This helps to avoid invalid processing operations that may occur when the target device detects the arrival of the moving submodule, thereby reducing energy consumption and improving operational accuracy.

[0100] In some embodiments, to facilitate the acquisition of transport history information corresponding to the moving submodule, a correspondence between the moving submodule and the storage area can be pre-established, so that each moving submodule can have a corresponding storage area to facilitate the storage and retrieval of transport history information. The storage area corresponding to the moving submodule can be: a storage area of ​​an independent storage unit (such as an independent register, independent memory, etc.) allocated to the moving submodule, or a storage area corresponding to a specified address range in a storage unit allocated as the storage area corresponding to the moving submodule. Based on this, the acquisition of transport history information corresponding to the moving submodule described in this application embodiment, and obtaining the acquisition result, can include: performing a read operation on the storage area allocated to the moving submodule to obtain the acquisition result of the transport history information.

[0101] For example, see Figure 3 , Figure 3 This is a schematic diagram illustrating the normal operation of a moving submodule in an automated production system involving cutting processes. Figure 3 The diagram shows the storage area corresponding to the moving submodule 1. The moving submodule 1 passes through a feeding device, several processing devices (N processing devices are shown in the diagram) and a discharging device.

[0102] Understandable Figure 3 This is merely an example for ease of understanding. In practical applications, there can be multiple moving submodules, each with its own corresponding storage area. For example, see [link to relevant documentation]. Figure 4 , Figure 4 This is a schematic diagram illustrating the normal operation process of multiple moving sub-modules in an automated production system involving cutting processes. Figure 4 The multiple active submodules include: active submodule 1 to active submodule P. Figure 4 The storage area corresponding to the moving sub-identifier 1 of moving sub-module 1 is storage area 1, the storage area corresponding to the moving sub-identifier 2 of moving sub-module 2 is storage area 2, the storage area corresponding to the moving sub-identifier P-1 of moving sub-module P-1 is storage area P-1, and the storage area corresponding to the moving sub-identifier P of moving sub-module P is storage area P. This embodiment of the application does not impose a specific limitation on the number of moving sub-modules.

[0103] It should be noted that in practical applications, the moving submodule may include components for loading objects, but for ease of understanding and description, these are not shown in the accompanying drawings for all examples. Furthermore, the dashed arrow boxes in the figures are only used to indicate the storage area corresponding to the moving submodule. In practical applications, the physical device containing the storage area corresponding to the moving submodule can be located within the module of the linear motor device (such as the moving submodule, stator module, or control device), or can be independently located within the linear motor device; there are no restrictions on this. Also, the dashed rectangles in the figures (such as...) Figure 3 The illustrations are shown as "Position 3-1", "Position 3-2", and "Position 3-3". Figure 4 The schematic illustrations shown as "Position 4-1", "Position 4-2", "Position 4-3", "Position 4-4", etc. are only used to indicate the target position to which the moving submodule moves. In actual applications, as mentioned above, the target position can be understood as: when the operating device is the target device, the trigger position set by the operating device along the stator line, and there are no restrictions on this.

[0104] In some embodiments, a correspondence between a moving submodule and a storage area can be established using a moving submodule identifier. Specifically, before obtaining the transport history information corresponding to the moving submodule, the process may further include: obtaining the moving submodule identifier; establishing a correspondence between the moving submodule and a storage area based on the moving submodule identifier, wherein the storage area is used to store the transport history information. Different moving submodule identifiers are used to identify different moving submodules, and the correspondence between the moving submodule and the storage area can be established using the moving submodule identifier, i.e., one moving submodule identifier corresponds to one storage area.

[0105] In practical applications, different mover identifiers can be randomly assigned to multiple moving submodules through software programs, thereby distinguishing each moving submodule by the mover identifier. Since there is a one-to-one correspondence between the mover identifier and the moving submodule, a correspondence can be established between the mover identifier and the moving submodule's transport history information, thus facilitating the acquisition of the moving submodule's transport history information. Specifically, when a moving submodule is detected to have moved to the target position corresponding to the target device, the transport history information corresponding to the moving submodule can be obtained based on the mover identifier and the pre-established correspondence between the mover identifier and the moving submodule's transport history information.

[0106] When it is determined that the moving submodule is cooperating with the target device, the completion result of the cooperative action performed by the moving submodule is related to the operation result of the target device. That is, the completion result of the cooperative action of the moving submodule includes the operation information of the target device, such as information indicating that the operation was successful or failed. Therefore, after obtaining the transmission history information corresponding to the moving submodule, it may also include: if it is determined that the moving submodule is cooperating with the target device, after detecting that the moving submodule and the target device have completed cooperation, based on the moving submodule's moving submodule identifier, the transmission information corresponding to the completion of the cooperative action of the moving submodule is stored as transmission history information. Thus, when the moving submodule performs other actions in the future, the transmission information corresponding to the cooperative action of the moving submodule can be traced as transmission history information to determine whether the moving submodule needs to cooperate with other operating devices.

[0107] Therefore, based on the mover identifier, a correspondence is established between the mover module and the storage area. This facilitates the accurate acquisition of the conveying history information corresponding to different mover modules during the formal operation of the linear motor equipment, based on the mover identifier of each module and this correspondence. Furthermore, based on the mover identifier of the mover module, the conveying information corresponding to the completion of this collaborative action by the mover module is stored as conveying history information. This allows for the tracing of the operation information corresponding to the current collaborative action of the mover module when it moves to face other operating equipment, providing a valid reference for determining whether the mover module needs to cooperate with other operating equipment.

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

[0109] Please refer to Figure 5 This is a schematic flowchart illustrating another control method for a linear motor device provided in an exemplary embodiment of this application.

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

[0111] Step 502: Establish the correspondence between the moving module and the storage area based on the moving identifier.

[0112] Step 503: When the moving submodule is detected to have moved to the target position corresponding to the target device, the transport history information corresponding to the moving submodule is obtained based on the moving submodule's moving submodule identifier, and the acquisition result is obtained.

[0113] Step 504: Based on the results of obtaining historical transmission information, determine whether the moving submodule is cooperating with the target device. If yes, proceed to step 505; otherwise, proceed to step 506.

[0114] Step 505: Control the movement submodule to cooperate with the target device.

[0115] Step 506: Control the moving submodule to drive away from the target device.

[0116] Step 507: After detecting that the moving submodule has completed cooperation with the target device, based on the moving submodule's moving submodule identifier, store the transportation information corresponding to the moving submodule's completion of this cooperation action as transportation history information.

[0117] It is understood that the specific implementation methods of steps 503 and 504 above can be referred to the descriptions in the relevant sections above (such as steps 201 and 202 above), and will not be repeated here. Steps 505 and 506 above have also been described above, and will not be repeated here.

[0118] In step 503, when the moving submodule is detected to have moved to the target position corresponding to the target device, the storage area corresponding to the moving submodule's identifier is determined based on the correspondence established in step 502. Then, the transport history information corresponding to the moving submodule is retrieved from the storage area. Thus, for different moving submodules, transport history information can be retrieved through their corresponding storage areas. For example, refer to [reference needed]. Figure 4 The delivery history information of moving submodule 1 is obtained from storage area 1 corresponding to moving submodule 1, and the delivery history information of moving submodule P is obtained from storage area P corresponding to moving submodule P. The delivery history information of the other moving submodules is obtained in a similar manner, and will not be elaborated further here.

[0119] In step 507, after detecting that the moving submodule has completed cooperation with the target device, the storage area corresponding to the moving submodule's identifier can be determined based on the correspondence established in step 502. Then, in this storage area, the transmission information corresponding to the moving submodule's completion of this cooperation action is stored as transmission history information. For example, see... Figure 4 When the movement submodule P is detected to have completed its collaboration with the feeding device, the conveying information corresponding to the completion of this action by the movement submodule P is stored in the storage area P. The stored conveying information includes: a feeding result sub-information indicating successful feeding (…). Figure 4 The illustration shows "material loading successful" and the feature sub-information of object 1. Figure 4 The schematic representation is "Object 1 Information"). When the movement submodule P-1 completes its collaboration with the processing equipment 1, the transport information corresponding to the action completed by the movement submodule P-1 is stored in storage area P-1. This stored transport information includes: a processing result sub-information indicating processing failure (…). Figure 4 (The illustration is shown as "Process 1 failed"). The other sub-modules store operation information in a similar way, which will not be described in detail here.

[0120] For example, one implementation of establishing a correspondence between a moving submodule and a storage area based on a moving sub-identifier, as described in this application, includes: constructing a data structure corresponding to each moving submodule; and establishing a correspondence between the moving submodule and its corresponding data structure based on the data structure and the moving sub-identifier. The data structure includes processing operation variables for recording processing operation status, and these processing operation variables are associated with the storage area through address mapping.

[0121] Optionally, based on the operational steps involved in the actual automated production system, a data structure can be constructed corresponding to each moving submodule. This data structure includes processing operation variables for recording the processing operation status, such as the loading operation variable for moving submodule 1, the processing operation 1 variable, ..., the processing operation N variable, and the unloading variable. The loading operation variable records the conveying history information corresponding to the loading operation; the processing operation 1 variable records the conveying history information corresponding to processing operation 1; and so on, the processing operation N variable records the conveying history information corresponding to processing operation N; and the unloading variable records the conveying history information corresponding to the unloading operation. The processing operation variables are associated with storage areas through address mapping, meaning there is an address mapping relationship between the processing operation variables corresponding to each moving submodule and the storage area corresponding to each moving submodule.

[0122] The correspondence between a moving submodule and its corresponding data structure is established using the moving submodule's identifier. This means constructing an index relationship between the moving submodule and the processing operation variables. Since there is an address mapping relationship between the processing operation variables and the storage area, the corresponding processing operation variable can be found through the moving submodule's identifier. Therefore, by using the correspondence between the processing operation variables and the storage area, the stored transmission history information in the corresponding storage area can be retrieved using address mapping.

[0123] It should be noted that the above example is merely one method for establishing the correspondence between a moving submodule and a storage area provided in this application embodiment. In specific implementations, other methods can also be used to establish the correspondence between moving submodules and storage areas. For example, a region identifier can be set for each storage area, and the region identifier can be bound to a moving submodule to establish the correspondence between the moving submodule and the storage area. This application embodiment does not specifically limit the method for establishing the correspondence between moving submodules and storage areas.

[0124] In some embodiments, after determining the automatically assigned mover identifier for the mover module, the corresponding storage area can be determined using the automatically assigned mover identifier.

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

[0126] Allocation Method 1: Determine the first target storage area based on the free capacity of the storage area corresponding to the allocable mover identifier; use the mover identifier corresponding to the first target storage area as the mover identifier allocated to the mover module. The first target storage area is the storage area corresponding to the allocable mover identifier whose free capacity meets a preset capacity condition.

[0127] The free capacity of the aforementioned storage area can be understood as the storage capacity of the storage area where no information has been written. The aforementioned preset capacity condition can be used to measure whether the storage area can be used to store and transmit historical information. In specific implementations, the preset capacity condition can be set according to actual conditions. For example, the preset capacity condition can be used to select the storage area with the largest free capacity among the storage areas corresponding to each allocable mover identifier; or, for example, the preset capacity condition can be used to select the storage areas among the storage areas corresponding to each allocable mover identifier where the free capacity exceeds the capacity threshold. Here, the meaning of "exceeds" can be determined according to specific circumstances as greater than or greater than or equal to.

[0128] By using allocation method 1, the allocated mover identifier can be determined based on the free capacity, which is beneficial to allocate the mover identifier corresponding to the storage area with a large free capacity to the mover module, ensuring the effective utilization of the storage area.

[0129] Allocation Method 2: Determine the second target storage area based on the storage duration of the information stored in the storage area corresponding to the allocable mover identifier; use the mover identifier corresponding to the second target storage area as the mover identifier allocated to the mover module. The second target storage area is the storage area corresponding to the allocable mover identifier whose storage duration meets the preset duration condition.

[0130] The storage duration of information stored in the aforementioned storage area can be understood as the time between the moment the information is written to the storage area and the moment when a mover identifier needs to be allocated. This preset duration condition can be used to measure whether the information in the storage area can be overwritten by subsequently acquired historical transmission information. Optionally, this duration condition can be set according to the time it takes for the mover module to complete one round of transportation. That is, this duration condition can be used to select the storage area where the storage duration of information corresponding to each allocatable mover identifier exceeds the time of one round of transportation by the mover module, or the duration condition can be used to select the storage area with the longest storage duration of information corresponding to each allocatable mover identifier.

[0131] By using allocation method 2, the allocated mover identifier can be determined based on the storage duration. 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] To facilitate the storage and retrieval of the delivery history information of each moving submodule, each moving submodule can have its own corresponding storage area. Therefore, a read operation can be performed on the storage area allocated to the moving submodule. The result of the read operation may be that delivery history information is retrieved, or it may not be retrieved, thus obtaining the corresponding acquisition result. Based on this, the acquisition of delivery history information corresponding to the moving submodule and the acquisition result described in this application embodiment includes: performing a read operation on the storage area allocated to the moving submodule; if delivery history information is not retrieved, generating a first acquisition result; otherwise, if delivery history information is retrieved in the storage area corresponding to the moving submodule, generating a second acquisition result.

[0133] When the moving submodule is detected to have moved to the target position corresponding to the target device, the storage area corresponding to the moving submodule may or may not contain the transport history information. When the moving submodule is detected to have moved to the target position corresponding to the target device and a read operation is performed on the storage area allocated to the moving submodule, a first acquisition result may be generated because the transport history information is not read, or a second acquisition result may be generated because the transport history information is read.

[0134] For example, the failure to read the delivery history information may be because the target device currently being faced by the moving submodule is the first operating device that the moving submodule has reached after starting, at which point the moving submodule does not yet have delivery history information. This first operating device can be a feeding device. If the target device is a feeding device, then it is determined that the moving submodule is cooperating with the target device.

[0135] In some embodiments, the method of determining whether a moving submodule cooperates with a target device based on the acquisition result of historical information of conveying, as described in this application embodiment, includes: if the acquisition result indicates that the moving submodule is in an unloaded state, and the target device is a feeding device, then it is determined that the moving submodule cooperates with the target device.

[0136] Among them, the result indicates that the moving submodule is in an empty state, indicating that the moving submodule is not currently loaded with any objects.

[0137] When the moving submodule is not currently loaded with any objects, there is no need for processing or unloading operations; only loading operations are required. Therefore, if the result indicates that the moving submodule is in an idle state, and the target device is a loading device, the moving submodule will cooperate with the target device. If the target device is not a loading device, such as a processing or unloading device, the moving submodule will not cooperate with the target device. This ensures that the moving submodule only cooperates with the loading device in the idle state, thus performing the loading operation in coordination with the loading device. This meets the loading operation requirements when the moving submodule is idle and avoids unnecessary resource waste caused by the moving submodule cooperating with non-loading devices when idle.

[0138] For example, if the conveying history information corresponding to the result indicator submodule is blank, it can be determined that the result indicator submodule is in an unloaded state. Alternatively, if the conveying history information corresponding to the result indicator submodule includes: feeding result sub-information indicating that the feeding equipment operation failed, it can be determined that the result indicator submodule is in an unloaded state.

[0139] The result indicates that the moving submodule is in an idle state, meaning that the moving submodule is currently not loaded with any objects. This may occur in the following three scenarios:

[0140] Scenario 1: The moving submodule moves to face the feeding device for the first time.

[0141] Understandably, the fact that the moving submodule moves to face the loading device for the first time indicates that it has not yet undergone any conveying operations. When the moving submodule is detected to have moved to the target position corresponding to the target device, the acquired conveying history information for the moving submodule is blank. This blank conveying history information indicates that the moving submodule is in an unloaded state and also indicates that it is the first time it has moved to face the loading device. Therefore, since the acquired results indicate that the moving submodule is in an unloaded state and the identified target device is the loading device, it is determined that the moving submodule is cooperating with the loading device.

[0142] For ease of understanding, the following is combined with Figure 6 Provide an illustrative explanation. Figure 6 This is a schematic diagram of scenario 1 above.

[0143] exist Figure 6 In the example of moving submodule 1, when it is detected that moving submodule 1 has moved to the target position corresponding to the target device ( Figure 6When the schematic display is "position 6-1", the storage area corresponding to the moving submodule 1 does not store the conveying history information, that is, the obtained conveying history information corresponding to the moving submodule 1 is blank. Therefore, it can be determined that the result of obtaining the conveying history information corresponding to the moving submodule 1 indicates that the moving submodule 1 is in an unloaded state. Furthermore, since the determined target device is the feeding device, it is determined that the moving submodule cooperates with the feeding device it is currently facing.

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

[0145] Understandably, after a loading failure, the moving submodule stores the loading result sub-information indicating the loading device operation failed as transport history information. Furthermore, after the first loading failure, the moving submodule can be controlled to move in an unloaded state until it faces the previously encountered loading device or another loading device. When the moving submodule is detected to have moved to the target position corresponding to the target device, the acquired transport history information includes the loading result sub-information indicating the loading device operation failed. This transport history information indicates that the moving submodule is in an unloaded state and also indicates that it has experienced a loading failure. Therefore, since the acquired result indicates that the moving submodule is in an unloaded state, and the identified target device is a loading device,

[0146] The determination module works in conjunction with the feeding equipment.

[0147] For ease of understanding, the following is combined with Figure 7 Provide an illustrative explanation. Figure 7 This is a schematic diagram illustrating a failed loading process experienced by the moving submodule.

[0148] exist Figure 7 In the example of moving submodule 1, when it is detected that moving submodule 1 has moved to the target position corresponding to the target device ( Figure 7 When the schematic display is "position 7-1"), if the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information of the feeding result indicating that the feeding device operation failed ( Figure 7 If the schematic display is "feeding failed", then it can be determined that the result of obtaining the conveying history information corresponding to the moving submodule 1 indicates that the moving submodule 1 is in an idle state. Therefore, since the result indicates that the moving submodule is in an idle state, and the identified target device is the feeding device, it is determined that the moving submodule and the feeding device are cooperating.

[0149] Scenario 3: After the moving submodule experiences a loading failure, it moves to a non-loading device that is facing the loading device.

[0150] When the moving submodule is detected to have moved to the target position corresponding to the target device, if the acquired conveying history information corresponding to the moving submodule includes a sub-information indicating a failed loading operation of the loading device, then this conveying history information can indicate that the moving submodule is in an unloaded state, and can also indicate that the moving submodule has experienced a failed loading operation. Therefore, since the acquired result indicates that the moving submodule is in an unloaded state, and the determined target device is a non-loading device, it is determined that the moving submodule will not cooperate with the non-loading device.

[0151] For ease of understanding, the following is combined with Figure 7 Provide an illustrative explanation. In Figure 7 In the example of moving submodule 2, when it is detected that moving submodule 2 has moved to the target position corresponding to the target device ( Figure 7 When the schematic display is "position 7-2"), the conveying history information obtained from the storage area corresponding to the driven submodule 2 includes: the sub-information of the feeding result indicating that the feeding equipment operation failed ( Figure 7 (The illustration shows "feeding failed"). Therefore, it can be determined that the result of obtaining the conveying history information corresponding to moving submodule 2 indicates that moving submodule 2 is in an idle state. Since the result indicates that moving submodule 2 is in an idle state, and the target device currently facing moving submodule 2 is determined to be processing equipment 1 rather than the feeding device, it is determined that moving submodule 2 will not cooperate with the currently facing processing equipment 1.

[0152] exist Figure 7 In the example of moving submodule 3, when it is detected that moving submodule 3 has moved to the target position corresponding to the target device ( Figure 7 When the schematic display is "position 7-3"), the conveying history information obtained from the storage area corresponding to the driven submodule 3 includes: the sub-information of the feeding result indicating that the feeding equipment operation failed ( Figure 7 (The illustration shows "feeding failed"). Therefore, it can be determined that the result of obtaining the conveying history information corresponding to the moving submodule 3 indicates that the moving submodule 3 is in an idle state. Since the result indicates that the moving submodule 3 is in an idle state, and the target device currently facing the moving submodule 3 is determined to be the unloading device rather than the feeding device, it is determined that the moving submodule 3 will not cooperate with the currently facing unloading device.

[0153] In some embodiments, the determination of whether the moving submodule cooperates with the target device based on the acquisition result of the conveying history information described in this application embodiment includes: if the acquisition result indicates that the loading is successful, and the target device is a unloading device, then it is determined that the moving submodule cooperates with the target device.

[0154] If the result indicates successful loading, it means that the moving submodule is currently loaded with an object. At this time, if the target device is an unloading device, it means that an unloading operation needs to be performed on the object loaded in the moving submodule, thus determining that the moving submodule and the target device are cooperating.

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

[0156] For example, see Figure 8 , Figure 8 This is a schematic diagram illustrating the normal operation of a moving submodule in an automated production system involving logistics and transportation.

[0157] Figure 8 The operating equipment includes a loading device and a unloading device. The linear motor equipment involves two operational stages: the loading stage of the loading device and the unloading stage of the unloading device. Taking the moving submodule 1 as an example, the object loaded in the moving submodule 1 is object 1. When the moving submodule 1 is detected to have moved to the target position corresponding to the target device ( Figure 8 When the schematic display is "position 8-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information indicating that the feeding device operation was successful ( Figure 8 The illustration shows "material loading successful" and the feature sub-information of object 1 (such as...). Figure 8 (The schematic display is "Object 1 Information"). Therefore, it can be determined that the acquisition result of the delivery history information indicates that the loading was successful. At the same time, since the target device is the unloading device, it is determined that the moving submodule 1 cooperates with the unloading device to unload the object 1 loaded on the moving submodule 1.

[0158] Furthermore, after detecting that the moving submodule 1 and the unloading device have completed their collaboration, the unloading result sub-information corresponding to the successful operation of the unloading device corresponding to the completion of this collaborative action by the moving submodule 1 is stored as conveying history information (e.g., Figure 8 The illustration in the image is "material successfully fed".

[0159] For example, in a scenario where a linear motor device goes through the loading, processing, and unloading stages of an object, if the result indicates successful loading and the target device is the unloading device, then regardless of whether the processing operation in the processing stage is successful, it can be determined that the moving submodule cooperates with the unloading device, thereby controlling the moving submodule to cooperate with the unloading device to perform the unloading operation. That is to say, the object unloaded by the unloading device at this time may be a successfully processed object or an unprocessed object. The following will combine... Figure 3 and Figure 9Each is illustrated separately. Figure 3 In the process, the items unloaded by the unloading equipment are the successfully processed items. Figure 9 In this context, the items unloaded by the unloading equipment are those that have failed to be processed.

[0160] See Figure 3 , Figure 3 This is a schematic diagram illustrating the normal operation of a moving submodule in an automated production system involving cutting processes, as provided in an embodiment of this application.

[0161] Figure 3 The operating equipment includes a loading device, N processing devices, and a unloading device. The linear motor equipment involves three operational stages: the loading stage of the loading device, the processing stage of the processing devices, and the unloading stage of the unloading device. Taking the moving submodule 1 as an example, the object loaded in the moving submodule 1 is object 1. When the moving submodule 1 is detected to have moved to the target position corresponding to the target device ( Figure 3 When the schematic display is "position 3-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the feeding result sub-information indicating that the feeding equipment operation was successful ( Figure 3 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 3 The diagram illustrates "Object 1 Information" and the processing result sub-information indicating that all N processing devices have been successfully operated. Figure 3 The illustration shows "Processing 1 successful... Processing n successful". Since the acquired conveying history information includes the sub-information indicating that the loading equipment has been successfully operated, it can be determined that the acquisition result of the conveying history information indicates that the loading was successful. At the same time, since the target equipment is the unloading equipment, it is determined that the moving submodule 1 cooperates with the unloading equipment to unload the successfully processed object 1 loaded on the moving submodule 1.

[0162] Furthermore, after detecting that the moving submodule 1 and the unloading device have completed their collaboration, the unloading result sub-information corresponding to the successful operation of the unloading device corresponding to the completion of this collaborative action by the moving submodule 1 is stored as conveying history information (e.g., Figure 3 The illustration in the image is "material successfully fed".

[0163] See Figure 9 , Figure 9 This is a schematic diagram of the operation flow of a sub-module in an automated production system involving cutting processes, provided in an embodiment of this application, in the event of a machining failure.

[0164] exist Figure 9In the example of moving submodule 1, the object loaded in moving submodule 1 is object 1. Moving submodule 1 experienced a processing failure in processing equipment 1. When it is detected that moving submodule 1 has moved to the target position corresponding to the target equipment ( Figure 9 When the schematic display is "position 9-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information indicating that the feeding device operation was successful ( Figure 9 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 9 The diagram illustrates "Object 1 Information" and the processing result sub-information indicating that the processing equipment 1 operation failed. Figure 9 (The illustration is shown as "Processing 1 failed"). Since the acquired conveying history information includes the sub-information indicating that the loading equipment operation was successful, it can be determined that the acquisition result of the conveying history information indicates that the loading was successful. At the same time, since the target equipment is the unloading equipment, it is determined that the moving submodule 1 cooperates with the unloading equipment to unload the failed processing object 1 loaded on the moving submodule 1.

[0165] Furthermore, after detecting that the moving submodule 1 and the unloading device have completed their collaboration, the unloading result sub-information corresponding to the successful operation of the unloading device corresponding to the completion of this collaborative action by the moving submodule 1 is stored as conveying history information (e.g., Figure 9 The illustration in the image is "material successfully fed".

[0166] Understandably, if the target device is a feeding device, after the moving sub-module and the feeding device successfully cooperate, the conveying history information of the moving sub-module can be linked to the object fed by the feeding device, thus serving as the operation history information of the object. This information can be used for traceability when the automated production process of the object is investigated in the future.

[0167] In some embodiments, the determination of whether the moving submodule cooperates with the target device based on the acquisition result of the conveying history information described in this application embodiment includes: if the acquisition result indicates that the material loading is successful and there is no processing failure operation of the object conveyed by the moving submodule, and if the target device is a processing device, then it is determined that the moving submodule cooperates with the target device.

[0168] Understandably, if the result indicates successful loading and no processing failures have occurred with the object transported by the moving submodule, it means that the loading and processing operations previously performed by the moving submodule were successful. If the target device currently facing the moving submodule is a processing device, it means that cooperation between the moving submodule and the processing device is necessary. Therefore, it can be determined that the moving submodule cooperates with the currently facing processing device so that the processing device can continue to process the object carried by the moving submodule, ensuring the continuity and necessity of the processing operations performed on the object carried by the moving submodule.

[0169] For example, see Figure 3 Taking moving submodule 1 as an example, when it is detected that moving submodule 1 has moved to the target position corresponding to the target device ( Figure 3 When the schematic display is "position 3-3"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 3 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 3 The schematic display is "Object 1 Information" and the processing result sub-information indicating that processing equipment 1 to processing equipment N-1 have all been successfully operated. Figure 3 The illustration shows "Processing 1 successful... Processing n-1 successful". Since the acquired conveying history information includes sub-information indicating successful loading of the loading equipment, it can be determined that the acquisition result of the conveying history information indicates successful loading. The acquired conveying history information also includes sub-information indicating successful operation of processing equipment 1 to processing equipment N-1. Therefore, it can be determined that the acquisition result of the conveying history information indicates that there was no processing failure operation of object 1 conveyed by the moving submodule 1. At the same time, since the target equipment is processing equipment N, it is determined that the moving submodule 1 cooperates with the processing equipment N to perform processing operation on object 1 loaded by the moving submodule 1.

[0170] Furthermore, after detecting that the moving submodule 1 and the processing equipment N have completed their collaboration, the processing result sub-information corresponding to the successful operation of the processing equipment N, corresponding to the completion of this collaborative action by the moving submodule 1, is stored as the transmission history information (e.g., Figure 3 The illustration is shown as "processing n successfully".

[0171] In some embodiments, the determination of whether the moving submodule cooperates with the target device based on the acquisition result of the conveying history information described in this application embodiment includes: if the acquisition result indicates that the moving submodule is in a loading state and the unloading has failed, and if the target device is not an unloading device, then it is determined that the moving submodule does not cooperate with the target device.

[0172] Understandably, if the result indicates that the moving submodule is in a loading state but the unloading operation failed, it means that the moving submodule is currently loaded with an object, but the loaded object experienced an unloading failure. Therefore, the moving submodule should cooperate with the unloading equipment to perform the unloading operation, and should not engage in meaningless cooperation with non-unloading equipment. Thus, if the target equipment is not an unloading equipment, it is determined that the moving submodule should not cooperate with the target equipment. This helps avoid meaningless cooperation between the moving submodule and the non-unloading equipment it faces, thereby saving processing resources and reducing conveying time.

[0173] For example, if the delivery history information includes a sub-information indicating successful loading, it can be determined that the result acquisition indicator module is in a loaded state. If the delivery history information includes a sub-information indicating failed unloading, it can be determined that the result acquisition indicator indicates unloading failure.

[0174] See Figure 10 , Figure 10 This is a schematic diagram of the operation process of a moving submodule in the event of a material feeding failure.

[0175] Figure 10 Taking moving submodule 1 as an example, when moving submodule 1 first encounters the unloading device, it fails to cooperate with the unloading device, i.e., the unloading device fails to unload. After detecting that moving submodule 1 has completed cooperation with the unloading device, the unloading result sub-information corresponding to the unloading failure indicated by moving submodule 1 completing this cooperation action is stored as conveying history information (e.g., Figure 10 (The illustration shows "material feeding failure"). After a material feeding failure, the control submodule 1 idles for one cycle and then returns to the corresponding position of the material feeding device, where it works with the device to perform another material feeding operation. During this idle cycle, the control submodule 1 sequentially passes through the loading device, processing device 1 to processing device N, and the unloading device. The process of this idle cycle is explained below:

[0176] When it is detected that the moving submodule 1 has moved to the target position corresponding to the target device ( Figure 10 When the schematic display is "position 10-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 10 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 10 The schematic display is "Object 1 Information"), indicating that processing equipment 1 to processing equipment N-1 have all been successfully operated. Figure 10 The illustration shows "Processing 1 successful...Processing n-1 successful" and the sub-information indicating the failure of the material feeding (e.g., ... Figure 10(Illustratively shown as "material unloading failed"). Since the conveying history information includes both a successful loading result sub-information and a failed unloading result sub-information, it can be determined that the conveying history information indicates that the moving submodule 1 is in a loading state and that unloading has failed. Furthermore, since the target device currently facing the moving submodule 1 is the loading device, i.e., not the unloading device, it can be determined that the moving submodule 1 is not cooperating with the loading device. Then, the moving submodule 1 is controlled to move away from the loading device to the next operating device of the loading device, namely the processing device 1 in the figure.

[0177] When it is detected that the moving submodule 1 has moved to the target position corresponding to the target device ( Figure 10 When the schematic display is "position 10-2"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 10 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 10 The schematic display is "Object 1 Information"), indicating that processing equipment 1 to processing equipment N-1 have all been successfully operated. Figure 10 The illustration shows "Processing 1 successful...Processing n-1 successful" and the sub-information indicating the failure of the material feeding (e.g., ... Figure 10 (The diagram illustrates this as "feeding failed"). Therefore, it can be determined that the result of the historical transport information indicates that the moving submodule 1 is in a loading state and the feeding has failed. Furthermore, since the target device currently facing the moving submodule 1 is processing device 1, which is not the feeding device, it can be determined that the moving submodule 1 is not cooperating with processing device 1. Then, the moving submodule 1 is controlled to move away from processing device 1 to the next operating device, such as processing device 2 (not shown in the diagram). Similarly, if the moving submodule 1 moves to face one of processing devices 2 to N, and the historical transport information result indicates that the moving submodule is in a loading state and the feeding has failed, therefore, when the moving submodule 1 moves to face one of processing devices 2 to N, it will be determined that the moving submodule 1 is not cooperating with it and will continue to move to the next operating device.

[0178] When it is detected that the moving submodule 1 has moved to the target position corresponding to the target device ( Figure 10 When the schematic display is "position 10-3"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information indicating that the feeding equipment operation was successful ( Figure 10 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 10The schematic display is "Object 1 Information"), indicating that processing equipment 1 to processing equipment N-1 have all been successfully operated. Figure 10 The illustration shows "Processing 1 successful...Processing n-1 successful" and the sub-information indicating the failure of the material feeding (e.g., ... Figure 10 (The illustration shows "material unloading failed"). Therefore, it can be determined that the result of obtaining the conveying history information indicates that the moving submodule 1 is in a loading state and material unloading has failed. However, since the target device at this time is the unloading device, it is determined that the moving submodule 1 cooperates with the unloading device. Furthermore, after detecting that the moving submodule 1 and the unloading device have completed cooperation, the material unloading result sub-information corresponding to the completion of this cooperation action by the moving submodule 1 is stored as conveying history information (e.g., material unloading success). Figure 10 The illustration in the image is "material successfully fed".

[0179] In some embodiments, the determination of whether the moving submodule cooperates with the target device based on the acquisition result of the conveying history information described in this application embodiment includes: if the acquisition result indicates that the feeding has failed, and the target device is a non-feeding device, then the moving submodule is determined not to cooperate with the target device.

[0180] Understandably, a result indicating loading failure means the moving submodule is not currently loaded with any items. When the moving submodule is not loaded, there is no need for processing or unloading operations; only loading is required. Therefore, if the target device is not a loading device, the moving submodule will not cooperate with it. This avoids unnecessary collaboration between the moving submodule and non-loading devices in the event of loading failure, thus saving processing resources and transport time.

[0181] For example, see Figure 7 Taking the moving submodule 2 as an example, when it is detected that the moving submodule 2 has moved to the target position corresponding to the target device ( Figure 7 When the schematic display is "position 7-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 2 includes: the sub-information of the feeding result indicating that the feeding equipment operation failed ( Figure 7 (The illustration shows "feeding failed"). Therefore, it can be determined that the result of obtaining the conveying history information corresponding to the moving submodule 2 indicates that the feeding failed. Furthermore, since the target device currently facing the moving submodule 2 is the processing device 1 rather than the feeding device, it is determined that the moving submodule 2 does not cooperate with the processing device 1 currently facing it.

[0182] Continue reading Figure 7 Taking the moving submodule 3 as an example, when it is detected that the moving submodule 3 has moved to the target position corresponding to the target device ( Figure 7When the schematic display is "position 7-2"), the conveying history information obtained from the storage area corresponding to the driven submodule 3 includes: the sub-information of the feeding result indicating that the feeding equipment operation failed ( Figure 7 (The illustration shows "feeding failed"). Therefore, it can be determined that the result of obtaining the conveying history information corresponding to the moving sub-module 3 indicates that the feeding failed. Furthermore, since the target device currently faced by the moving sub-module 3 is the unloading device rather than the feeding device, it is determined that the moving sub-module 3 is not cooperating with the unloading device it is currently facing.

[0183] In some embodiments, the determination of whether the moving submodule cooperates with the target device based on the acquisition result of the conveying history information described in this application embodiment includes: if the acquisition result indicates that the material feeding is successful and the object conveyed by the moving submodule has a processing failure operation, and if the target device is a processing device, then the moving submodule is determined not to cooperate with the target device.

[0184] Understandably, if the result indicates successful loading but the moving submodule experienced processing failures, it means that the moving submodule's previous loading operations were successful, while some processing operations failed. For objects that have already experienced processing failures, there's no need to continue processing. Therefore, if the moving submodule's current target device is a processing device, cooperation between the moving submodule and that processing device is unnecessary. Thus, it can be determined that the moving submodule will not cooperate with the currently facing processing device to avoid the processing device continuing to process objects that have already failed, thereby saving processing resources and transport time.

[0185] For example, see Figure 9 Taking moving submodule 1 as an example, the object loaded in moving submodule 1 is object 1. Moving submodule 1 experienced a processing failure in processing equipment 1. When it is detected that moving submodule 1 has moved to the target position corresponding to the target equipment ( Figure 9 When the schematic display is "position 9-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information indicating that the feeding device operation was successful ( Figure 9 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 9 The diagram illustrates "Object 1 Information" and the processing result sub-information indicating that the processing equipment 1 operation failed. Figure 9(The illustration shows "Processing 1 failed"). Since the acquired transport history information includes sub-information indicating successful loading of the loading equipment and sub-information indicating failed processing of processing equipment 1, it can be determined that the acquired transport history information indicates successful loading and that the object 1 transported by the moving submodule 1 experienced a processing failure. Since the target device at this time is processing equipment N, it is determined that the moving submodule 1 does not cooperate with processing equipment N, thereby controlling the moving submodule 1 to move away from processing equipment N.

[0186] To facilitate understanding and application of the technical solutions provided in the embodiments of this application, the following illustrative descriptions are provided through specific application scenarios and accompanying drawings.

[0187] In an alternative embodiment, please refer to Figure 3 ,exist Figure 3 In the scenario shown, each moving submodule (with Figure 3 Taking the moving sub-module 1 as an example, it will go through the feeding equipment, several processing equipment (N processing equipment in the figure) and the unloading equipment.

[0188] Taking moving submodule 1 as an example, when it is detected that moving submodule 1 has moved to the target position corresponding to the target device ( Figure 3 When the schematic display is shown as "position 3-1"), the storage area corresponding to the moving submodule 1 does not store the conveying history information, that is, the acquired conveying history information corresponding to the moving submodule 1 is blank. Therefore, it can be determined that the acquisition result of the conveying history information corresponding to the moving submodule 1 indicates that the moving submodule 1 is in an idle state, thus determining that the moving submodule needs to cooperate with the currently facing feeding equipment. Furthermore, after detecting that the moving submodule 1 has completed cooperation with the feeding equipment, the feeding result sub-information indicating successful operation of the feeding equipment corresponding to the completion of this cooperation action by the moving submodule 1 and the feature sub-information of object 1 are stored as conveying history information (e.g., Figure 3 The illustration shows "Successfully Loaded" and "Item 1 Information".

[0189] After detecting that the moving submodule 1 has completed its cooperation with the feeding device, control the moving submodule 1 to move towards the processing device 1. When it is detected that the moving submodule 1 has moved to the target position corresponding to the target device ( Figure 3 When the schematic display is shown as "position 3-2"), the acquired conveying history information corresponding to the moving submodule 1 includes: sub-information indicating successful loading of the loading equipment and sub-information on the characteristics of object 1 (such as...). Figure 3The diagram illustrates "Loading Successful" and "Object 1 Information," thus confirming that the historical information indicates successful loading and that the object 1 transported by the moving submodule 1 did not experience any processing failures. Furthermore, since the target device is processing equipment 1, it is determined that the moving submodule 1 needs to collaborate with this processing equipment 1. Further, after detecting that the moving submodule 1 and processing equipment 1 have completed their collaboration, the processing result sub-information indicating successful operation of processing equipment 1 corresponding to the moving submodule 1's completion of this collaboration action is stored as historical information (e.g., ...). Figure 3 The illustration shows "Processing 1 successful".

[0190] After detecting that the moving submodule 1 has completed cooperation with the processing equipment 1, the moving submodule 1 is controlled to move towards the processing equipment 2 (not shown in the figure). In the absence of any processing failure operation, whenever the moving submodule 1 moves to face processing equipment 2 to processing equipment N, it is determined that the moving submodule 1 has cooperated with the processing equipment it is facing. After detecting that the moving submodule 1 has completed cooperation with processing equipment N, the moving submodule 1 is controlled to move towards the feeding device.

[0191] When it is detected that the moving submodule 1 has moved to the target position corresponding to the target device ( Figure 3 When the schematic display is "position 3-3"), the conveying history information obtained corresponding to the moving sub-module 1 includes: sub-information indicating that the feeding equipment operation was successful (such as...). Figure 3 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 3 The illustration shows "Object 1 Information" and the processing result sub-information indicating that all N processing devices have been successfully operated. Figure 3 The illustration shows "Processing 1 successful... Processing n successful". Therefore, it can be determined that the result of acquiring the historical information indicates successful loading, and since the target device is the unloading device, it is determined that the moving submodule 1 needs to cooperate with the unloading device. Furthermore, after detecting that the moving submodule 1 has completed cooperation with the unloading device, the unloading result sub-information corresponding to the successful operation of the unloading device corresponding to the completion of this cooperation action by the moving submodule 1 is stored as historical information (e.g., ...). Figure 3 The illustration in the image is "material successfully fed".

[0192] In addition, the historical information of the transport obtained by the moving submodule 1 in this round of transport can be linked with the object 1 transferred by the unloading equipment, so as to serve as the historical information of the transport of object 1. This information can be used to trace the information of object 1 when the automated production process of object 1 is investigated in the future.

[0193] Figure 3This describes the operation flow of a single moving submodule. However, in actual implementations, multiple moving submodules in a linear motor device typically have their own independent actions. The following explanation uses the operation flow of multiple moving submodules in an automated production system involving cutting processes as an example. (See also...) Figure 4 Multiple active submodules include: active submodule 1 to active submodule P.

[0194] for Figure 4 The moving submodule P in the middle has a corresponding storage area called storage area P. When it is detected that the moving submodule P has moved to the target position corresponding to the target device ( Figure 4 (The illustration is shown as "Position 4-1")

[0195] At this time, the storage area P corresponding to the moving submodule P does not store any conveying history information, meaning the acquired conveying history information corresponding to the moving submodule P is blank. Therefore, it can be determined that the acquisition result of the conveying history information corresponding to the moving submodule P indicates that the moving submodule P is in an idle state. Furthermore, since the target device is a loading device, it is determined that the moving submodule P needs to cooperate with the currently facing loading device. Further, after detecting that the moving submodule P has completed cooperation with the loading device, the loading result sub-information indicating successful operation of the loading device and the feature sub-information of object 1 corresponding to the completion of this cooperation action by the moving submodule P are stored as conveying history information (e.g., Figure 4 The illustration shows "Successfully Loaded" and "Item 1 Information".

[0196] for Figure 4 The moving submodule P-1 in the memory has a corresponding storage area P-1. When the moving submodule P-1 is detected to have moved to the target position corresponding to the target device, (… Figure 4 When the schematic display is "position 4-2"), the conveying history information corresponding to the moving submodule P-1 obtained from the storage area P-1 includes: the loading result sub-information indicating successful loading and the feature sub-information of object 1 (such as... Figure 4 The diagram illustrates "Loading Successful" and "Object 1 Information". Therefore, it can be determined that the acquisition result of the transport history information corresponding to the moving submodule P-1 indicates successful loading and that there was no processing failure operation for object 1 transported by the moving submodule P-1. Furthermore, since the target device is processing device 1, it is determined that the moving submodule P-1 needs to cooperate with the currently facing processing device 1. Further, after detecting that the moving submodule P-1 has completed cooperation with the processing device 1, the processing result sub-information corresponding to the completion of this cooperation action by the moving submodule P-1, indicating that the processing device 1 operation failed, is stored as transport history information (e.g., ...). Figure 4 The illustration is shown as "Processing 1 failed".

[0197] for Figure 4The moving submodule 2 in the middle, its corresponding storage area is storage area 2. When it is detected that the moving submodule 2 has moved to the target position corresponding to the target device ( Figure 4 When the schematic display is "position 4-3"), the conveying history information corresponding to the moving submodule 2 obtained from storage area 2 includes: the sub-information of the loading result indicating successful loading (such as... Figure 4 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 4 The schematic display is "Object 1 Information"), and the processing result sub-information indicating that processing equipment 1 to processing equipment N-1 have all been successfully processed (e.g., Figure 4 The illustration shows "Processing 1 successful... Processing n-1 successful". Therefore, it can be determined that the result of the transport history information acquisition corresponding to the moving submodule 2 indicates successful loading and that there was no processing failure operation for the object 1 transported by the moving submodule 2. Furthermore, since the target device is processing device N, it is determined that the moving submodule 2 needs to cooperate with the currently facing processing device N. Further, after detecting that the moving submodule 2 has completed cooperation with the processing device N, the processing result sub-information indicating successful operation of processing device N corresponding to the completion of this cooperation action by the moving submodule 2 is stored as transport history information (e.g., ...). Figure 4 The illustration is shown as "processing n successfully".

[0198] for Figure 4 The moving submodule 1 in the middle has a corresponding storage area called storage area 1. When it is detected that the moving submodule 1 has moved to the target position corresponding to the target device ( Figure 4 When the schematic display is "position 4-4"), the conveying history information corresponding to the moving submodule 1 obtained from storage area 1 includes: the sub-information of the loading result indicating successful loading (such as... Figure 4 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 4 The schematic display is "Object 1 Information"), and the processing result sub-information indicating that processing equipment 1 to processing equipment N have all successfully processed the object (e.g., Figure 4 The illustration shows "Processing 1 successful... Processing n successful". Therefore, it can be determined that the result of acquiring the conveying history information corresponding to the moving submodule 1 indicates successful loading, and since the target device is the unloading device, it is determined that the moving submodule 1 needs to cooperate with the currently facing unloading device. Furthermore, after detecting that the moving submodule 1 has completed cooperation with the unloading device, the unloading result sub-information corresponding to the completion of this cooperation action by the moving submodule 1, indicating successful operation of the unloading device, is stored as conveying history information (e.g., ...). Figure 4 The illustration in the image is "material successfully fed".

[0199] With changing production demands, producing only one type of product through automated production systems is no longer sufficient for today's society. For mechanical transmission equipment, its conveying capacity is insufficient to meet the efficiency requirements of producing multiple types of products. For example, different types of objects have different operating procedures, requiring the conveyor belt components to be adapted to these procedures, further reducing conveying efficiency. Therefore, this application's embodiment utilizes the independently controllable characteristics of linear motor equipment's moving sub-modules. Multiple moving sub-modules can be controlled to alternately (adjacent or at preset intervals) convey multiple types of objects, achieving mixed conveying of different types of objects and thus producing multiple types of products. Based on the above, it can be seen that linear motor equipment can be applied to both logistics conveying and equipment processing. Correspondingly, mixed conveying can also achieve logistics sorting and / or mixed processing.

[0200] In one optional embodiment, multiple moving submodules 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 feeding device for transferring a specified type of object. In this scenario, the determination of whether the moving submodule cooperates with the target device based on the acquisition result of the transport history information described in this application embodiment includes: if the acquisition result indicates successful loading and there is no processing failure operation of the object, and if the target device is a processing device that matches the type of the loaded object, then it is determined that the moving submodule cooperates with the target device.

[0201] Understandably, if the result indicates successful loading and no processing failures, it means that the loading and processing operations previously performed by the moving submodule were successful, and the object transported by the moving submodule needs to continue processing. However, in this scenario, multiple moving submodules are used to transport at least two types of objects, and the operating equipment includes processing equipment for processing specific types of objects. This means that the processing equipment currently facing the moving submodule may not be suitable for processing the object transported by that submodule. Only when the processing equipment currently facing the moving submodule matches the type of the object being transported can that processing equipment be used to process the object. Therefore, when the result indicates successful loading and no processing failures, if the target equipment is a processing equipment matching the type of the loaded object, it is determined that the moving submodule and the target equipment will cooperate. This ensures that the processing equipment matching the type of the loaded object can continue processing the object transported by the moving submodule, guaranteeing the continuity and necessity of processing operations on the objects carried by the moving submodule, which is beneficial for meeting the needs of mixed processing.

[0202] In an alternative embodiment, please refer to Figure 11 and Figure 12This is a schematic diagram illustrating the normal operation of a submodule in an automated production system involving hybrid processing techniques. Figure 11 and 12 In the scenario shown, each moving submodule (taking moving submodule 1 and moving submodule 2 as examples) passes through a feeding device and several processing devices (taking processing device 1 and processing device 2 as examples in the diagram). Processing device 1 and processing device 2 are used to process different types of objects. For ease of description, we will use processing device 1 and processing device 2 to process type A objects and type B objects, respectively, as examples.

[0203] Figure 11 This is a schematic diagram of the operation process of submodule 1 in an automated production system involving mixed processing technology.

[0204] exist Figure 11 In the example of moving submodule 1, when it is detected that moving submodule 1 has moved to the target position corresponding to the target device ( Figure 11 When the schematic display is "position 11-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information indicating that the feeding device operation was successful ( Figure 11 The illustration shows "material loading successful" and the characteristic sub-information of Class A objects (such as...). Figure 11 The schematic display is shown as "Class A object information". This confirms that the acquisition result of the transport history information indicates successful loading and that there were no processing failures for Class A objects. Furthermore, since the processing equipment 1 currently facing the moving submodule 1 matches the type of the loaded object, i.e., Class A object, it is determined that the moving submodule 1 and the processing equipment 1 are cooperating. Further, after detecting that the moving submodule 1 and the processing equipment 1 have completed cooperation, the processing result sub-information indicating successful operation of the processing equipment 1 corresponding to the completion of this cooperation action by the moving submodule 1 is stored as transport history information (e.g., ...). Figure 11 The illustration shows "Processing 1 successful".

[0205] Continue reading Figure 11 After detecting that the moving submodule 1 has completed cooperation with the processing equipment 1, the system controls the moving submodule 1 to move to the next operating equipment, namely the processing equipment 2. When the moving submodule 1 is detected to have moved to the target position corresponding to the target equipment (…), the system continues to operate. Figure 11 When the schematic display is "position 11-2"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 11 The illustration shows "material loading successful"), and the characteristic sub-information of Class A objects (such as... Figure 11 The schematic display is shown as "Class A object information") and the processing result sub-information indicating that the processing equipment 1 has been successfully operated (such as...). Figure 11(The illustration shows "Processing 1 successful"). This confirms that the historical information indicates successful loading and that there were no processing failures for Class A objects. However, since the processing equipment 2 currently being faced by the moving submodule 1 is not a processing equipment that matches the type of Class A objects, it is determined that the moving submodule 1 will not cooperate with the processing equipment 2.

[0206] Figure 12 This is a schematic diagram of the operation process of submodule 2 in an automated production system involving mixed processing technology.

[0207] exist Figure 12 In the example of moving submodule 2, when it is detected that moving submodule 2 has moved to the target position corresponding to the target device ( Figure 12 When the schematic display is "position 12-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 2 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 12 The illustration shows "material loading successful" and the characteristic sub-information of Class B objects (such as...). Figure 12 (The illustration shows "Type B object information"). This confirms that the historical information indicates successful loading and no processing failures occurred for Type B objects. However, since the processing equipment 1 currently facing the moving submodule 2 is not a matching type for the loaded object (Type B object), it is determined that the moving submodule 2 will not cooperate with processing equipment 1. Then, the moving submodule 2 is controlled to move away from processing equipment 1 and towards processing equipment 2.

[0208] Continue reading Figure 12 When the moving submodule 2 is detected to have moved to the target position corresponding to the target device ( Figure 12 When the schematic display is "position 12-2"), the conveying history information obtained from the storage area corresponding to the driven submodule 2 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 12 The illustration shows "material loading successful" and the characteristic sub-information of Class B objects (such as...). Figure 12 The illustration shows "Type B object information". This confirms that the historical information indicates successful loading and no processing failure occurred for Type B objects. Furthermore, since the processing equipment 2 currently facing the moving submodule 2 matches the type of Type B object, it is determined that the moving submodule 2 and the processing equipment 2 are cooperating. Further, after detecting that the moving submodule 2 and the processing equipment 2 have completed cooperation, the processing result sub-information indicating successful operation of the processing equipment 2 corresponding to the completion of this cooperation action by the moving submodule 2 is stored as historical information (e.g., ...). Figure 12 The illustration shows "Processing 2 successful".

[0209] Understandably, in practical implementations, the multiple moving submodules in a linear motor device typically have their own actions, and each moving submodule can be operated according to the above... Figure 11 or Figure 12 The process is controlled within the system.

[0210] In an alternative embodiment, please refer to Figure 13 This is a schematic diagram illustrating the operational flow of multiple sub-modules in an automated production system involving hybrid processing techniques. Figure 13 In the scenario shown, each moving sub-module (taking moving sub-module 1 to moving sub-module 2 as examples) will pass through a feeding device and several processing devices (taking processing devices 3 and 4 as examples in the figure). Processing devices 3 and 4 are used to process Class A objects and Class B objects, respectively.

[0211] for Figure 13 In the moving submodule 1, when it is detected that the moving submodule 1 has moved to the target position corresponding to the target device ( Figure 13 When the schematic display is "position 13-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 13 The illustration shows "material loading successful"), and the characteristic sub-information of Class A objects (such as... Figure 13 The schematic display is shown as "Class A object information") and the processing result sub-information indicating that the processing equipment 1 has been successfully operated (such as...). Figure 13 The illustration shows "Processing 1 Successfully". This confirms that the historical information indicates successful loading and that there were no processing failures for Class A objects. Furthermore, since the processing equipment 3 currently being faced by submodule 1 matches the type of Class A object, it is determined that submodule 1 and processing equipment 3 are cooperating. Further, after detecting that submodule 1 and processing equipment 3 have completed cooperation, the processing result sub-information indicating successful operation of processing equipment 3 corresponding to the completion of this cooperation action by submodule 1 is stored as historical information (e.g., ...). Figure 13 The illustration shows "Processing 3 Successfully Completed".

[0212] for Figure 13 The moving submodule 2 in the middle, when it is detected that the moving submodule 2 has moved to the target position corresponding to the target device ( Figure 13 When the schematic display is "position 13-2"), the conveying history information obtained from the storage area corresponding to the driven submodule 2 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 13 The illustration shows "material loading successful"), and the characteristic sub-information of Class B objects (such as... Figure 13 The diagram illustrates "Type B object information" and the processing result sub-information indicating successful operation of processing equipment 2 (e.g., Figure 13 The illustration shows "Processing 2 Successfully". This confirms that the historical information indicates successful loading and that there were no processing failures for the B-type object. Furthermore, since the processing equipment 4 currently being faced by the moving submodule 2 matches the type of the B-type object, it is determined that the moving submodule 2 and the processing equipment 4 are cooperating. Further, after detecting that the moving submodule 2 and the processing equipment 4 have completed cooperation, the processing result sub-information indicating successful operation of the processing equipment 4 corresponding to the completion of this cooperation action by the moving submodule 2 is stored as historical information (e.g., ...). Figure 13 The illustration in the image is "Processing 4 Successfully Completed".

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

[0214] Understandably, a successful loading result indicates that the moving submodule is loaded with an object. Regardless of whether the object loaded by the moving submodule has undergone processing by the processing equipment, or whether the processing operation was successful or failed, as long as the loading result for the moving submodule indicates successful loading, and the target device facing the moving submodule is a unloading device matching the type of the loaded object, then the moving submodule is determined to cooperate with the unloading device. This unloading device matching the type of the loaded object is a device used to transfer objects of that type. For example, if the type of the loaded object is A, then the unloading device matching the type of the loaded object is used to transfer A-type objects.

[0215] In an alternative embodiment, please refer to Figure 14 This is a schematic diagram of the unloading process after processing in an automated production system involving mixed processing techniques. Figure 14 In the process, unloading equipment A is used to transfer objects of type A, and unloading equipment B is used to transfer objects of type B.

[0216] for Figure 14 In the moving submodule 1, when it is detected that the moving submodule 1 has moved to the target position corresponding to the target device ( Figure 14 When the schematic display is "position 14-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 14The illustration shows "material loading successful"), and the characteristic sub-information of Class A objects (such as... Figure 14 The diagram illustrates "Class A object information" and the processing result sub-information indicating that processing equipment 1 to processing equipment N-1 were all successfully operated. Figure 14 The illustration shows "Processing 1 successful, Processing 3 successful... Processing n-1 successful". Since the acquired conveying history information includes sub-information indicating successful loading of the loading equipment, it can be determined that the acquisition result of the conveying history information indicates successful loading. Furthermore, since the target equipment is unloading equipment A, which matches the type of the loaded object (i.e., type A), it is determined that the moving submodule 1 cooperates with unloading equipment A, thereby controlling the moving submodule 1 to cooperate with unloading equipment A to unload the type A object loaded in the moving submodule 1.

[0217] Furthermore, after detecting that the moving submodule 1 and the unloading device A have completed their collaboration, the unloading result sub-information corresponding to the successful operation of the unloading device A, corresponding to the completion of this collaborative action by the moving submodule 1, is stored as conveying history information (e.g., Figure 14 The illustration in the image is "material successfully fed".

[0218] for Figure 14 The moving submodule 2 in the middle, when it is detected that the moving submodule 2 has moved to the target position corresponding to the target device ( Figure 14 When the schematic display is "position 14-2"), the conveying history information obtained from the storage area corresponding to the driven submodule 2 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 14 The illustration shows "material loading successful"), and the characteristic sub-information of Class B objects (such as... Figure 14 The diagram illustrates "Type B object information" and the processing result sub-information indicating that processing equipment 2 to processing equipment N have all been successfully operated. Figure 14 The illustration shows "Processing 2 successful, Processing 4 successful... Processing n successful". Since the acquired conveying history information includes sub-information indicating successful loading of the loading equipment, it can be determined that the acquisition result of the conveying history information indicates successful loading. Furthermore, since the target equipment is unloading equipment B, which matches the type of the loaded object (Type B), it is determined that the moving submodule 2 cooperates with the unloading equipment B, thereby controlling the moving submodule 2 to cooperate with the unloading equipment B to unload the Type B object loaded by the moving submodule 2.

[0219] Furthermore, after detecting that the moving submodule 2 and the unloading device B have completed their collaboration, the unloading result sub-information corresponding to the successful operation of the unloading device B, corresponding to the completion of this collaborative action by the moving submodule 2, is stored as conveying history information (e.g., Figure 14 The illustration in the image is "material successfully fed".

[0220] In some embodiments, the multiple operating devices include multiple unloading devices, which are used to handle different types of objects. Based on this, the method described in this application for determining whether the moving submodule cooperates with the target device based on the acquisition result of transport history information may include: if the acquisition result indicates the object type of the object transported by the moving submodule, and the target device is an unloading device matching the object type, then it is determined that the moving submodule cooperates with the target device.

[0221] In this embodiment, for moving sub-modules loaded with different types of objects, different types of objects are unloaded by unloading devices matched with different types. This is beneficial for producing multiple types of products while achieving automatic classification of multiple types of products, without increasing the complexity of conveying control, and can meet the conveying efficiency requirements of multi-type product production.

[0222] In some embodiments, the multiple operating devices include a first unloading device and a second unloading device; the determination of whether the moving submodule cooperates with the target device based on the acquisition result of the conveying history information, as described in this application embodiment, includes: if the acquisition result indicates that there is no processing failure operation of the object conveyed by the moving submodule, and if the target device is the first unloading device, then it is determined that the moving submodule cooperates with the target device. If the acquisition result indicates that there is a processing failure operation of the object conveyed by the moving submodule, and if the target device is the second unloading device, then it is determined that the moving submodule cooperates with the target device.

[0223] The first unloading device is used to unload objects that have been successfully processed by all the processing devices, and the second unloading device is used to unload objects that have failed to be processed by one of the processing devices.

[0224] See Figure 15 , Figure 15 This diagram illustrates the process of unloading successfully processed and unprocessed objects using two separate unloading devices. Figure 15 In the above, feeding device 1 is the first feeding device mentioned above, and feeding device 2 is the second feeding device mentioned above.

[0225] Figure 15 The processing equipment 1 failed to process the object 1 on the moving submodule 1. This failure occurred when the moving submodule 1 was detected to have moved to the target position corresponding to the target equipment. Figure 15 (The illustration is shown as "Location 15-2")

[0226] At that time, the conveying history information obtained from the storage area corresponding to the driven submodule 1 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 15 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 15The diagram illustrates "Object 1 Information" and the processing result sub-information indicating processing failure of processing equipment 1. Figure 15 (The illustration is shown as "Processing 1 failed"). Since the acquired transport history information includes sub-information indicating that processing equipment 1 failed, it can be determined that the acquired transport history information indicates that the transported object 1 experienced a processing failure. Furthermore, since the target equipment is unloading equipment 2, which is used to perform unloading operations on objects that have failed to be processed by a processing equipment, it is determined that the moving submodule 1 cooperates with the unloading equipment 2, thereby controlling the moving submodule 1 to cooperate with the unloading equipment 2 to unload the processing failure object 1 loaded on the moving submodule 1.

[0227] Furthermore, after detecting that the moving submodule 1 and the unloading device 2 have completed their collaboration, the unloading result sub-information corresponding to the successful operation of the unloading device 2, corresponding to the completion of this collaborative action by the moving submodule 1, is stored as conveying history information (e.g., Figure 15 The illustration shows "Successful loading" in storage area 1.

[0228] Continue reading Figure 15 When the moving submodule 2 is detected to have moved to the target position corresponding to the target device ( Figure 15 When the schematic display is "position 15-1"), the conveying history information obtained from the storage area corresponding to the driven submodule 2 includes: the sub-information of the feeding result indicating that the feeding equipment operation was successful ( Figure 15 The illustration shows "material loading successful"), and the characteristic sub-information of object 1 (such as... Figure 15 The diagram illustrates "Object 1 Information" and the processing result sub-information indicating that processing equipment 1 to processing equipment N have all successfully processed the item. Figure 15 The illustration shows "Processing 1 successful... Processing n successful". Since the acquired transport history information includes sub-information indicating that all processing equipment 1 through N has been successfully processed, it can be determined that the acquired transport history information indicates that the object 1 transported by the motion module 2 has not experienced any processing failures. Furthermore, since the target device is the unloading device 1, which performs the unloading operation on objects successfully processed by all processing equipment, it is determined that the motion module 2 cooperates with the unloading device 1. Therefore, the motion module 2 is controlled to cooperate with the unloading device 1 to unload the successfully processed object 1 loaded by the motion module 2.

[0229] Furthermore, after detecting that the moving submodule 2 and the unloading device 1 have completed their collaboration, the unloading result sub-information corresponding to the successful operation of the unloading device 1, corresponding to the completion of this collaborative action by the moving submodule 2, is stored as conveying history information (e.g., Figure 15 The illustration shows "Successful loading" in storage area 2.

[0230] In this embodiment, two unloading devices are used to unload successfully processed items and unprocessed items respectively. This helps to distinguish between successfully processed items and unprocessed items by using different unloading devices, saving additional sorting steps and reducing subsequent processing time and labor costs.

[0231] In some embodiments, the control submodule described in this application cooperates with the target device, including: obtaining a first control parameter, and controlling the control submodule to cooperate with the target device according to the first control parameter.

[0232] The first control parameter is a control parameter used to instruct the motion submodule to cooperate with the target device. The first control parameter may include: control parameters used to instruct the target device to perform processing operations and control parameters used to instruct the motion submodule to perform corresponding cooperative actions.

[0233] For example, the control parameters used to instruct the target device to perform a processing operation may further include: processing speed control parameters, processing duration control parameters, etc. The processing speed control parameters are used to indicate the processing speed when the target device performs the processing operation, and the processing duration control parameters are used to indicate the processing time that the target device should spend performing the processing operation.

[0234] For example, the control parameters used to instruct the moving submodule to perform corresponding cooperative actions may further include: stationary control parameters or moving speed control parameters. The stationary control parameters instruct the moving submodule to remain stationary at the target position to cooperate with the target device in completing the processing operation. The moving speed control parameters may specifically be speed limits, used to instruct the moving submodule to move slowly near the target position, and the speed of this slow movement should not exceed the speed limit.

[0235] In some embodiments, the control submodule described in this application's embodiments drives away from the target device, including:

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

[0237] The second control parameter is used to instruct the moving submodule to leave the target device. A pre-established mapping relationship exists between the acquired historical information and the target device currently being faced by the moving submodule, as well as the target control parameters. For different acquired information and target devices, corresponding second control parameters are configured. Therefore, the second control parameter can be obtained by querying the mapping relationship based on the acquired historical information and the target device.

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

[0239] Speed ​​control data is used to indicate the movement speed of the moving submodule during its movement to the next operating device. Moving the moving submodule to the next operating device can be understood as the moving submodule moving from a target position corresponding to the target device to a position corresponding to the next operating device, such as moving the moving submodule to a position facing the next operating device, in order to cooperate with the next operating device. Optionally, the speed control data includes a expected speed value and / or a speed limit value.

[0240] The expected speed value is used to characterize the speed at which the moving submodule is expected to be when it reaches the position corresponding to the next operating device. If the second control parameter includes the expected speed value, the moving submodule 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 at which the moving submodule reaches the position corresponding to the next operating device is the expected speed value.

[0241] A speed limit value is used to characterize the upper limit speed value that the moving submodule cannot exceed and / or the lower limit speed value that it cannot fall below during its movement to the next operating device. If the second control parameter includes an upper limit speed value, the speed of the moving submodule during its movement from the target position corresponding to the target device to the next operating device can be controlled to not exceed the upper limit speed value, based on the upper limit speed value and the current speed of the moving submodule. If the second control parameter includes a lower limit speed value, the speed of the moving submodule during its movement from the target position corresponding to the target device to the next operating device can be controlled to not fall below the lower limit speed value, based on the lower limit speed value and the current speed of the moving submodule. The process of the moving submodule moving to the next operating device is also the process of the moving submodule moving to the position corresponding to the next operating device.

[0242] Acceleration control data is used to indicate the acceleration of the moving submodule during its movement to the next operating device. If the second control parameter includes acceleration control data, then the acceleration of the moving submodule during its movement 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, based on the acceleration control data and the current acceleration of the moving submodule.

[0243] The time control data indicates the time spent by the moving submodule moving to the next operating device. If the second control parameter includes this time control data, the actual time spent by the moving submodule moving from the target position corresponding to the target device to the next operating device can be equal to the time indicated by the time control data.

[0244] The anti-collision distance control data is used to indicate the anti-collision distance between the moving submodule and other moving submodules during the process of the moving submodule moving to the next operating device. This anti-collision distance can be understood as the distance to prevent the moving submodule from colliding with other moving submodules during its movement. If the second control parameter includes this anti-collision distance control data, then according to this anti-collision distance control data, during the movement of the moving submodule from the target position corresponding to the target device to the next operating device, the distance between the moving submodule and its adjacent moving submodules can be greater than or equal to the aforementioned anti-collision distance, thereby avoiding collisions between the moving submodules.

[0245] Position control data is used to indicate the position of the next operating device. If the second control parameter includes this position control data, the moving submodule 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 position control data and the current position of the moving submodule, so that the moving submodule can cooperate with the next operating device.

[0246] In some optional embodiments, if it is determined that the moving submodule is cooperating with the target device, then after the cooperation result between the moving submodule and the target device indicates that the loading is successful, the object identifier of the loaded object is updated to the moving submodule's moving identifier.

[0247] It is understandable that after the sub-module is started, a sub-identifier can be automatically assigned to it. In this embodiment, after successful loading, the object identifier of the loaded object can be set as the sub-identifier of the sub-module, thereby reducing the amount of data. Furthermore, by checking whether the sub-module's sub-identifier matches the object identifier of the loaded object, it is possible to more intuitively determine whether loading was successful and to more intuitively track the progress of the loaded object. For example, in Figure 3 If the completion result of the current action of the moving module 1 indicates that the material loading is successful, then the object identifier of object 1 can be used as the moving identifier of the moving module 1.

[0248] In some optional embodiments, considering that welding and assembly processes may add objects to the original objects loaded on the moving submodule, if it is determined that the moving submodule is cooperating with the target device, then if the cooperation result between the moving submodule and the target device indicates the addition of new objects, the combination identifier is updated to the moving submodule's moving submodule identifier; wherein, the combination identifier includes the identifiers of each object carried by the moving submodule.

[0249] In other words, for assembly or welding processes, the object identifier of the preceding object can be retained. The object identifier of the following object and the object identifier of the preceding object can be combined, and the combined identifier is updated as the mover identifier of the moving submodule. That is, the combined identifier is used as the latest mover identifier of the moving submodule. Optionally, the object identifier of the following object can also replace the object identifier of the preceding object, and the object identifier of the following object can be used as the latest mover identifier of the moving submodule.

[0250] For easier understanding, please refer to Figure 16 , Figure 16 This is a schematic diagram of the operation flow of multiple moving sub-modules in an automated production system involving assembly processes.

[0251] for Figure 16 In the moving submodule P-1, when the target device is determined to be a feeding device, if it is determined that the moving submodule P-1 cooperates with the feeding device, then a new object is added in the cooperation result indication of the moving submodule P-1 and the feeding device. Figure 16 In the case where the schematic display is "Object 1 Information", the identifier of Object 1 can be updated to the identifier of the moving submodule P-1.

[0252] for Figure 16 In the context of the moving submodule P-2, when the target device is determined to be processing device 1, if it is determined that moving submodule P-2 cooperates with processing device 1, then a new object is added according to the cooperation result indication of moving submodule P-2 and processing device 1. Figure 16 In the case of the schematic display as "object 2 information", the combined identifier formed by the identifier of object 1 and the identifier of object 2 can be updated to the moving identifier of moving submodule P-2, that is, the moving identifier of moving submodule P-2 is updated to the combined identifier of object 1 and object 2.

[0253] for Figure 16 In the moving submodule 2, when the target device is determined to be processing device N, if it is determined that moving submodule 2 and processing device N are cooperating, then a new object is added according to the cooperation result indication of moving submodule 2 and processing device N. Figure 16 In the case of the schematic display of "object n information", the combined identifier formed by the identifiers of object 1 to object n can be updated to the moving identifier of moving submodule 2, that is, the moving identifier of moving submodule 2 is updated to the combined identifier of object 1 to object n.

[0254] In this embodiment, by updating the combination identifier to the moving identifier of the moving submodule when a new object is added as indicated by the collaboration result between the moving submodule and the target device, it is beneficial to reduce the amount of data and make it easier to trace the assembly sequence of the objects more intuitively.

[0255] This application embodiment also considers that in practical applications, there may be situations where the mover identifier is reassigned, which may result in the reassigned mover identifier being inconsistent with the mover identifier assigned when the mover module starts, thus leading to errors in reading operation history information and affecting the control of the mover module.

[0256] In practical implementation, the reallocation of the mover identifier may occur in the following two scenarios: in applications involving mixed conveyor lines and in scenarios involving the restart of linear motor equipment after a power outage. These two scenarios are explained below:

[0257] Depending on the arrangement of the stator modules, in addition to closed shapes (such as circular, racetrack-shaped, and square-circular), stator lines can also have non-closed shapes (such as S-shaped, straight, and C-shaped). For a single non-closed stator line or multiple non-closed stator lines spaced apart, a transfer mechanism is needed to move the moving module from one stator line to another, or from one end of a stator line to the other. For cost reasons, the transfer mechanism can use mechanical transmission components (conveyor belt components, chain components, telescopic components) to transfer the moving module, forming a mixed conveyor line.

[0258] For mixed conveyor lines, if the positioning module is set along the stator line, when the transfer mechanism moves the moving sub-module, since the transfer mechanism does not have a positioning module, it cannot provide positioning information for the moving sub-module. At this time, the moving sub-module is in a positioning blind zone. When the moving sub-module re-enters the stator line (which may be the original stator line or a new stator line), the control device will treat it as a new moving sub-module and reassign a moving sub-identifier. The reassigned moving sub-identifier cannot be guaranteed to be consistent with the originally assigned moving sub-identifier (i.e., the one assigned when the moving sub-module started). Therefore, the operation history information corresponding to the originally assigned moving sub-identifier cannot be read, and the operation history information corresponding to the reassigned moving sub-identifier may be mistakenly identified as the operation history information of the moving sub-module. See, for example... Figure 17 Suppose that the original mover identifier allocated to mover module 1 is identifier 1, and the mover identifier reassigned is identifier 2. The storage areas corresponding to identifier 1 and identifier 2 are different. Therefore, when reading operation history information based on the reassigned identifier 2, the original operation history information of mover module 1 cannot be read. It may even mistakenly identify the operation history information originally recorded by identifier 2 (if any) as the operation history information of mover module 1 (which may actually be the operation history information of another mover), thus causing errors in the control of mover module 1.

[0259] While positioning blind spots can be avoided by deploying positioning modules at transit facilities, the number of positioning modules required increases with the extension of transit distance, as does the number of moving sub-modules that need to be positioned. This necessitates higher positioning accuracy from the positioning modules, leading to a simultaneous increase in hardware costs and software computational load. Therefore, to address this technical problem, this application embodiment assigns fixed physical tags to the moving sub-modules. These physical tags provide unique and unchanging identification information for each sub-module, ensuring accurate reading of the operation history information from the corresponding storage area. Furthermore, since this is unaffected by transit distance, hardware costs and software computational load remain relatively controllable.

[0260] In some embodiments, each moving submodule has an identifiable physical tag on its outer surface. The tag identification information carried by each physical tag is unique and can be used to distinguish the moving submodules. Based on the moving direction of the moving submodule and the location of the physical tag, a tag identification module is deployed along the stator line. When a moving submodule corresponds to a tag identification module, the tag identification module identifies the physical tag of the moving submodule and obtains the tag identification information carried by the physical tag. The physical tag can be a radio frequency (RF) tag or a QR code tag, and correspondingly, the tag identification module is either an RF tag identification module or a QR code tag identification module.

[0261] For example, see Figure 18 , Figure 18 This is a schematic diagram of a linear motor device equipped with physical tags and a tag recognition module. For ease of explanation, Figure 18 The following explanation uses a moving submodule as an example. The outer surface of this moving submodule is equipped with physical tags. Based on the moving direction of the submodule and the location of the physical tags, a tag recognition module is deployed along the stator line.

[0262] In some embodiments, the determination of the mover identifier may include: identifying a physical tag disposed on the outer surface of the mover module, obtaining tag identification information carried by the physical tag, and using the tag identification information as the mover identifier. That is, the tag identification information of the mover module can be directly used as the mover identifier. Based on this, whether the mover identifier is initially assigned when the mover module is started or assigned after a restart, it is always the tag identification information, which helps maintain the consistency of the mover identifier and thus avoids the situation where the operation history information corresponding to the mover identifier is read incorrectly.

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

[0264] The automatically assigned mover identifiers for the mover module include: the mover identifier initially assigned when the mover module starts up, and the mover identifier reassigned when a reassignment event is triggered. Reassignment events may occur in the aforementioned hybrid conveyor line application scenarios or in scenarios involving power outages and restarts of linear motor equipment.

[0265] In this example, each time a submodule is assigned a submodule identifier, an association is established between the assigned submodule identifier and the submodule's tag identifier information. Therefore, when it's necessary to read the operation history information corresponding to a submodule using its submodule identifier, the submodule identifier can be retrieved through its tag identifier information and the aforementioned association. Then, the complete operation history information corresponding to that submodule can be read using that submodule identifier. For example, if the submodule's tag identifier information is `tag1`, and the submodule has been automatically assigned submodule identifiers including `identifier 1` and `identifier 2`, since `tag1`, `identifier 1`, and `identifier 2` are associated, `identifier 1` and `identifier 2` can be retrieved based on `tag1`, thus facilitating the accurate reading of the submodule's operation history information based on `identifier 1` and `identifier 2`.

[0266] In some embodiments, the operation history information can be stored by combining the tag identification information and the mover identifier. After the mover identifier is reassigned, the historical identifier that previously established an association can be determined through the tag identification information. Based on the tag identification information and the historical identifier, the operation history information corresponding to the tag identification information and the historical identifier before the identifier reassignment can be read, thereby avoiding information acquisition errors. This historical identifier is the mover identifier that was automatically assigned to the mover module mentioned above. For ease of understanding, the following will be combined with... Figure 19 Explanation:

[0267] Figure 19 This is a schematic diagram illustrating the principle of combining tag identification information and mover identification to store operation history information. Taking mover module 1 as an example, the tag identification information carried by the physical tag of mover module 1 is denoted as tag identification information 1. Assume that the mover identification previously assigned to mover module 1 (i.e., the historical identification) is identification 1, and the mover identification reassigned 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 reassigned, identification 1, which was previously associated with tag identification information 1, is identified 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 the reassignment of identification 2 is read. This operation history information corresponding to tag identification information 1 and identification 1 is... Figure 22The operation history information is stored in sub-region 1. In this example, the storage area corresponding to identifier 1 can be divided into multiple sub-regions, such as sub-region 1 and sub-region 2 in the diagram. Sub-region 2 can store tag identification information 2 and the operation history information corresponding to identifier 1. Tag identification information 2 comes from the physical tags of other moving sub-modules. It is evident that the storage area corresponding to identifier 1 can store the operation history information of multiple moving sub-modules, which is beneficial for the effective utilization of the storage area. Furthermore, combining tag identification information and moving sub-module identifiers to read operation history information can avoid information reading errors.

[0268] In some embodiments, before obtaining the tag identification information carried by the physical tag on the outer surface of the identified moving submodule, the method further includes: binding the moving submodule to the tag identification information carried by the physical tag of the moving submodule via a local control device or a host computer. This binding operation helps the local control device or host computer determine the binding relationship between the tag identification information and the moving submodule, so as to facilitate subsequent identification of the moving submodule through the tag identification information carried by the physical tag.

[0269] In practical implementation, the entity executing the binding action and the entity executing the control method can be the same entity or different entities. Correspondingly, when the entity executing the control method and the entity executing the binding action are different, the binding result needs to be sent to another entity. The same entity is either the local control device or the host computer; among the different entities, one is the local control device and the other is the host computer. The binding action in different situations is explained below:

[0270] When the tag identification information is bound to the moving submodule via a local control device, if the control method is applied to a host computer, the control method further includes receiving the binding result sent by the local control device, indicating that the tag identification information is bound to the moving submodule. In other words, in this case, after the local control device completes the binding action, it sends the binding result to the host computer so that the host computer is aware of the binding result. However, if the control method is applied to a local control device, it means that the entity executing the binding action and the entity executing the control method can be the same entity. Therefore, after the local control device completes the binding action, it is not necessary to send the binding result to the host computer.

[0271] When the tag identification information is bound to the moving submodule via a host computer, if the control method is applied to a local control device, the control method further includes receiving the binding result sent by the host computer, indicating that the tag identification information is bound to the moving submodule. In other words, in this case, after the host computer completes the binding action, it sends the binding result to the local control device so that the local control device is aware of the binding result. However, if the control method is applied to a host computer, it means that the entity executing the binding action and the entity executing the control method can be the same entity. Therefore, after the host computer completes the binding action, it is not necessary to send the binding result to the local control device.

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

[0273] The position information of the moving submodule obtained by the host computer can be sent by the local control device or directly by the position measuring device. Based on the position information of the moving submodule, the host computer determines when the moving submodule moves to the position corresponding to the tag recognition module. Then, based on the connection between the host computer and the tag recognition module, the host computer sends a command to the tag recognition module to control it to perform tag recognition operations and obtain the tag identification information sent by the tag recognition module. In this example, the binding action is performed by the local control device. Therefore, the host computer sends the obtained tag identification information to the local control device, which then binds the obtained tag identification information to the moving submodule corresponding to the tag recognition module based on the position information of the moving submodule.

[0274] In some embodiments, the tag recognition module is connected to a host computer. In this case, binding the tag identification information to the moving sub-module via the host computer includes: when the host computer obtains the position information of the moving sub-module, controlling the tag recognition module to perform a tag recognition operation and obtain the tag identification information, and then binding the obtained tag identification information to the moving sub-module corresponding to the tag recognition module. Optionally, the host computer can inform the local control device of the binding result.

[0275] The process of the host computer acquiring tag identification information is the same as in the previous example, and will not be repeated here to avoid duplication. In this example, the host computer performs the binding action, so after acquiring the tag identification information, the host computer directly binds the acquired tag identification information to the corresponding sub-module of the tag recognition module.

[0276] In some embodiments, the tag identification module is connected to a local control device. In this case, binding the tag identification information to the moving sub-module via the local control device includes: after the local control device obtains the position information of the moving sub-module, controlling the tag identification module to perform a tag identification operation and obtain the tag identification information, and binding the obtained tag identification information to the moving sub-module corresponding to the tag identification module. Optionally, the local control device can inform the host computer of the binding result.

[0277] In this example, after obtaining the position information of the moving submodule, the local control device determines that when the moving submodule moves to the position corresponding to the tag recognition module, it sends a command to the tag recognition module based on the connection between the local control device and the tag recognition module. This command controls the tag recognition module to perform tag recognition operations and obtains the tag identification information sent by the tag recognition module. In this example, the binding action is performed by the local control device. Therefore, after obtaining the tag identification information, the local control device directly binds the tag identification information to the moving submodule corresponding to the tag recognition module.

[0278] In some embodiments, the tag identification module is connected to a local control device. In this case, the tag identification information is bound to the moving sub-module via a 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 moving sub-module corresponding to the tag identification module, and the host computer binds the tag identification information to the moving sub-module corresponding to the tag identification module.

[0279] In the above scheme, the binding action is performed by the host computer. However, the host computer is not connected to the tag identification module, so it cannot directly obtain tag identification information through the tag identification module. In contrast, the tag identification module is connected to a local control device. Therefore, the local control device can send instructions to the tag identification module to control it 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 sub-module and the obtained tag identification information to the host computer. The host computer then identifies the corresponding tag identification information and the moving sub-module corresponding to the tag identification module, binding the tag identification information to the corresponding moving sub-module. This method, where the host computer performs the tag identification and binding actions, reduces the computational load on the local control device even when there are multiple tag identification modules.

[0280] It should be noted that the examples described above in the embodiments of this application are for illustrative purposes only and do not constitute a limitation on the technical solutions of this application.

[0281] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split 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 or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0282] Figure 20 This is a schematic diagram of the structure of a control device for a linear motor provided in an embodiment of this application.

[0283] For example, such as Figure 20 As shown, the control device 600 of the linear motor equipment includes:

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

[0285] The judgment unit 602 is used to determine whether the moving submodule cooperates with the target device based on the acquisition result of the transmission history information.

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

[0287] Figure 21 This is a schematic diagram of the structure of a linear motor device provided in an embodiment of this application.

[0288] For example, the linear motor device includes: a plurality of moving sub-modules 110, a stator line 120, and a control device 140; a plurality of operating devices 130 are distributed around the stator line 120; each moving sub-module 110 moves along the stator line 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 Figure 18The outer surface of the moving submodule is equipped with an identifiable physical tag. The tag identification information carried by the physical tag is unique and unchanging. The linear motor equipment 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 moving submodule and the setting position of the physical tag. The tag identification module is used to identify the physical tag of the moving submodule when a moving submodule with a corresponding position exists, 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 moving submodule based on the tag identification information. For example, based on the above description, the control device can determine the moving submodule's moving identifier based on the tag identification information, and thus determine the storage area corresponding to the moving submodule based on the moving submodule's moving identifier.

[0290] For example, the tag identification module is deployed upstream of the first operating device corresponding to the stator line or at the starting operating position of the first operating device, with the upstream position preceding the starting operating position. Specifically, it can be set on the side, above, or opposite side of the first operating device that is preferentially associated with the moving sub-module, as long as it ensures that the tag identification information corresponding to the moving sub-module has been obtained before reading or storing the operation history information.

[0291] For example, see Figure 18 The first operating device can be a feeding device. Figure 18 The label recognition module in the text can be considered to be deployed upstream of the feeding device corresponding to the stator line. It is understood that, in specific implementations, depending on the different operational steps involved, the first operating device may also be a processing device or a feeding device; this application embodiment does not specifically limit this.

[0292] In this embodiment, by deploying the tag identification module upstream of the first operating device corresponding to the stator line or at the starting operating position of the first operating device, it is beneficial to ensure that the tag identification information corresponding to the moving sub-module has been obtained before the moving sub-module cooperates with the first operating device. This facilitates the accurate reading of historical operation information based on the tag identification information, improves the accuracy of moving sub-module movement control, and thus improves transmission efficiency.

[0293] For example, the linear motor device also includes a transfer mechanism for transferring the moving submodule; the tag recognition module is set at the corresponding position of the transfer mechanism for recognizing the physical tag of the moving submodule during the transfer process.

[0294] The locations corresponding to the transfer mechanisms include, for example, the end of the conveyor belt component that connects to the stator line, the location of the telescopic component, and the location of the chain component. The label recognition module is connected to the transfer mechanism and thus operates in conjunction with it. Alternatively, the label recognition module and the transfer mechanism are spaced apart to maintain a constant position, ensuring that the label recognition module can identify the physical label before the moving sub-module re-enters the stator line.

[0295] See Figure 22 , Figure 22 This is a schematic diagram showing the location of a tag recognition module in a corresponding position within a transfer mechanism. For example... Figure 22 As shown, the transfer mechanism is a conveyor belt component, which is located between stator line 1 and stator line 2. The label recognition module is set at the end of the conveyor belt component that connects with stator line 2.

[0296] See Figure 23 , Figure 23 This is a schematic diagram showing another type of tag recognition module installed at the corresponding location in the transfer mechanism. For example... Figure 23 As shown, the transfer mechanism may include: a base, a conveyor belt component, and a telescopic component. By controlling the extension and retraction of the telescopic component, the moving submodule can be transferred from the stator line 1 to the stator line 2, and / or, by controlling the extension and retraction of the telescopic component, the moving submodule can be transferred from the stator line 2 to the stator line 1. Figure 23 The label recognition module is located at the corresponding position on the telescopic component. This is understandable. Figure 23 The top-to-bottom movement direction shown is only used to illustrate one possible movement direction of the transfer mechanism. This application embodiment does not limit the specific movement direction of the transfer mechanism.

[0297] In this embodiment of the application, by setting a tag identification module at the corresponding position of the transfer mechanism, it is beneficial to identify the physical tag of the mover module before it re-enters the stator line and obtain the tag identification information. This facilitates the accurate reading of historical operation information based on the tag identification information, improves the accuracy of mover movement control, and thus improves transmission efficiency.

[0298] For example, the tag identification module is disposed at the end of the stator line and is used to identify the physical tag of the moving sub-module when the moving sub-module leaves or enters the stator line. This facilitates the identification of the physical tag of the moving sub-module when it leaves or enters the stator line, enabling accurate retrieval of historical operation information based on the tag identification information.

[0299] For example, the tag recognition module includes a first tag recognition module and / or a second tag recognition module. The first tag recognition module is located at the corresponding position of each operating device, and the second tag recognition module is located 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 this embodiment of the application, considering that regardless of the splicing situation of the stator line, the mover identifier will be reassigned after the linear motor equipment is restarted after a power outage, by setting a tag identification module at the corresponding position of each operating device and / or between two operating devices, it is beneficial to still be able to identify the physical tag of the mover module through the tag identification module after the linear motor equipment is restarted, and then accurately read the historical operation information through the identified tag identification information.

[0301] In practical implementation, the tag identification module and physical tag can be installed in the space formed between the stator and the mover module. By making reasonable use of the existing space inside the linear motor equipment, the tag identification module and physical tag can be deployed, thereby reducing the overall volume of the linear motor equipment and providing a certain degree of protection for the tag identification module and physical tag.

[0302] For example, see Figure 24 , Figure 24 This is a schematic diagram of a linear motor device. In this diagram, the tag identification module 41 and the physical tag 42 are disposed in the receiving space 43 formed between the stator wire 20 and the mover module 10.

[0303] The linear motor device includes a stator line 20 and a mover module 10, the mover module 10 being slidably connected to the stator line 20 along a first direction. The stator line 20 serves as a track in the linear motor device that supports the mover module 10 and provides a path for its movement. The mover module 10 serves as a carrier in the linear motor device that carries objects and moves them along the stator line 20.

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

[0305] The magnet module serves as a component in the mover module 10 for magnetic engagement with the armature winding 26 of the stator conductor 20. When alternating current is applied to the armature winding 26 of the stator conductor 20, an alternating magnetic field is generated. The magnet module is magnetically coupled to the energized armature winding 26. Under the action of magnetic force, the magnet module moves in the alternating magnetic field, cutting magnetic field lines, thereby driving the mover body 11 connected to it to move relative to the stator conductor 20.

[0306] At least a portion of the magnet module is used to form a socket 132 for insertion of the armature winding 26 of the stator conductor 20. The plane containing the socket 132 intersects the first surface 111, meaning that the plane containing the socket 132 is not parallel to the first surface 111. In other words, the plane containing the socket 132 has a component perpendicular to the first surface 111 (this component is the projection of the plane containing the socket 132 onto 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 conductor 20. When the plane containing the socket 132 is perpendicular to the first surface 111, i.e., the angle between them 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 including 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 along a direction perpendicular to the first surface 111 and connected to the mounting structure 14. A socket 132 for inserting the armature winding 26 of the stator conductor 20 is formed between the two magnet arrays 131. That is, the socket 132 for inserting the armature winding 26 of the stator conductor 20 is formed separately by the magnet module.

[0308] The mounting structure 14 includes a mounting base 141 extending along a first direction. The mounting base 141 has a side surface perpendicular to the first surface 111 and two end faces. The side surface of the mounting base 141 extends inward to form a groove 1411, and both ends of the groove 1411 extend along the first direction to penetrate the end faces of the mounting base 141. Two magnet arrays 131 are respectively disposed on two oppositely disposed groove sidewalls of the groove 1411. The two magnet arrays 131 are spaced apart to form a socket 132 for inserting the armature winding 26 of the stator wire 20. At this time, the plane of the socket 132 is parallel to or coincides with the plane of the groove opening of the groove 1411.

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

[0310] The first guide structure 121 serves as one of the tracks in the moving sub-module 10, slidingly engaging with the stator wire 20. The second guide structure 122 serves as another track in the moving sub-module 10, also slidingly engaging with the stator wire 20. The stator wire 20 includes a third guide structure 22 that slidesly engages with the first guide structure 121, and a fourth guide structure 23 that slidesly engages with the second guide structure 122. The specific form of the first guide structure 121 can be the same as or different from that of the second guide structure 122. When the specific form of the first guide structure 121 is the same as that of the second guide structure 122, both the first and second guide structures 121 may include a ball slider 123. In this case, the third and fourth guide structures 22 and 23 include guide rails 24 that slidely engage with the ball slider 123.

[0311] The stator winding 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 a first direction and is connected to the stator body 21, and 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 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 is magnetically engaged with the magnet module.

[0312] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a control method for a linear motor device provided in embodiments of this application.

[0313] This application embodiment can divide the device into functional units based on the above method example. For example, each functional unit can be assigned to a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware. It should be noted that the unit division in this application embodiment is illustrative and is only a logical functional division. In actual implementation, there may be other division methods.

[0314] It should be understood that the apparatus provided in this application embodiment is used to execute the control method of the linear motor device described above, and therefore can achieve the same effect as the above implementation method.

[0315] When using integrated units, the device may include a processing module and a storage module. Specifically, when the device is applied to a linear motor, the processing module can be used to control and manage the operation of the linear motor. The storage module can be used to support the execution of program code by the linear motor.

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

[0317] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. 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] This application also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the control method for a linear motor device provided in the above embodiments.

[0319] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the control method for a linear motor device provided in the above embodiments.

[0320] In this application, the apparatus, computer-readable storage medium, computer program product or chip provided in the embodiments are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0321] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional units is used as an example. In actual applications, the above 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 this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0323] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a linear motor device, characterized in that, The linear motor device includes multiple moving sub-modules and a stator line. Multiple operating devices are distributed around the stator line. Each moving sub-module moves along the stator line and passes through each operating device, and each moving sub-module is independently controlled. The control method includes: Obtain the mover identifier of the mover module; Construct data structures corresponding to each of the aforementioned sub-modules; wherein, the data structures include processing operation variables for recording processing operation status, the processing operation variables are associated with a storage area through address mapping, and the storage area is used to store transmission history information; Based on the data structure corresponding to each moving sub-module and the moving sub-identifier, establish the correspondence between the moving sub-module and the corresponding data structure; When the moving submodule is detected to have moved to the target position corresponding to the target device, the conveying history information corresponding to the moving submodule is obtained to obtain the result; wherein, the conveying history information is obtained based on the conveying-related operations experienced by the moving submodule before moving to the target position, and the target device is the operating device currently facing the moving submodule among the plurality of operating devices; Based on the results of obtaining the historical transmission information, it is determined whether the moving submodule cooperates with the target device.

2. The control method for the linear motor device according to claim 1, characterized in that, After determining whether the moving submodule cooperates with the target device based on the acquisition result of the transmission history information, the method further includes: If it is determined that the moving submodule is cooperating with the target device, then control the moving submodule to cooperate with the target device; If it is determined that the moving submodule does not cooperate with the target device, then the moving submodule is controlled to drive away from the target device.

3. The control method for the linear motor device according to claim 2, characterized in that, The control of the moving submodule in cooperation with the target device includes: The target device is instructed to perform processing operations, and the motion submodule is controlled to perform corresponding actions to cooperate.

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

5. The control method for a linear motor device according to claim 1, characterized in that, The determination of whether the moving submodule cooperates with the target device based on the acquisition result of the transmission history information includes at least one of the following: If the obtained result indicates that the moving submodule is in an unloaded state, and the target device is a feeding device, then it is determined that the moving submodule cooperates with the target device. If the result indicates successful loading, and the target device is a unloading device, then it is determined that the moving submodule cooperates with the target device. If the acquisition result indicates successful loading and there is no processing failure in the object transported by the moving submodule, and if the target device is a processing device, then it is determined that the moving submodule cooperates with the target device.

6. The control method for the linear motor device according to claim 1, characterized in that, The determination of whether the moving submodule cooperates with the target device based on the acquisition result of the transmission history information includes at least one of the following: If the obtained result indicates that the moving submodule is in a loading state and the unloading has failed, and if the target device is not an unloading device, then it is determined that the moving submodule does not cooperate with the target device. If the obtained result indicates that the feeding has failed, and the target device is not a feeding device, then it is determined that the moving submodule does not cooperate with the target device. If the result indicates successful loading but the object conveyed by the moving submodule has a processing failure operation, and if the target device is a processing device, then it is determined that the moving submodule will not cooperate with the target device.

7. The control method for the linear motor device according to claim 1, characterized in that, The plurality of moving sub-modules are used to transport at least two types of objects; the operating equipment includes processing equipment for processing specified types of objects and / or unloading equipment for transferring specified types of objects; The determination of whether the moving submodule cooperates with the target device based on the acquisition result of the transmission history information includes at least one of the following: If the acquisition result indicates successful loading and there is no processing failure of the object, and if the target device is a processing device that matches the type of the loaded object, then it is determined that the moving submodule cooperates with the target device. If the acquisition result indicates successful loading, and the target device is a unloading device that matches the type of the loaded object, then it is determined that the moving submodule cooperates with the target device.

8. The control method for the linear motor device according to claim 1, characterized in that, The plurality of operating devices includes a first feeding device and a second feeding device; The determination of whether the moving submodule cooperates with the target device based on the acquisition result of the transmission history information includes at least one of the following: If the obtained result indicates that there is no processing failure operation of the object conveyed by the moving submodule, and if the target device is the first unloading device, then it is determined that the moving submodule cooperates with the target device; If the obtained result indicates that the object being transported by the moving submodule has a processing failure, and if the target device is a second unloading device, then it is determined that the moving submodule and the target device are cooperating.

9. The control method for a linear motor device according to claim 1, characterized in that, The process of obtaining the transport history information corresponding to the moving submodule and obtaining the acquisition result includes: A read operation is performed on the storage area allocated to the moving submodule to obtain the acquisition result of the transmission history information.

10. The control method for a linear motor device according to claim 1, characterized in that, The step of obtaining the transport history information corresponding to the moving submodule includes: Based on the mover identifier and the corresponding relationship, the delivery history information corresponding to the mover module is obtained; After obtaining the transport history information corresponding to the moving submodule, the method further includes: If it is determined that the moving submodule is cooperating with the target device, then after detecting that the moving submodule and the target device have completed cooperation, the transmission information corresponding to the completion of this cooperation action by the moving submodule is stored as the transmission history information based on the moving submodule's moving submodule identifier.

11. The control method for the linear motor device according to claim 1, characterized in that, The method for determining the mover identifier includes at least one of the following: Determine the mover identifier automatically assigned to the mover module; Identify the physical tag set on the outer surface of the moving module, obtain the tag identification information carried by the physical tag, and use the tag identification information as the moving module identifier; Identify the physical tag set on the outer surface of the moving sub-module, obtain the tag identification information carried by the physical tag, and determine the moving sub-identifier corresponding to the tag identification information. The tag identification information is associated with the moving sub-identifier that has been automatically assigned to the moving sub-module.

12. The control method for the linear motor device according to claim 11, characterized in that, Different mover identifiers correspond to different storage areas; the mover identifiers of the mover modules are automatically allocated in the following manner: A first target storage area is determined based on the free capacity of the storage area corresponding to the allocable mover identifier; wherein, the first target storage area is the storage area whose free capacity meets the preset capacity condition among the storage areas corresponding to the allocable mover identifier. Use the mover identifier corresponding to the first target storage area as the mover identifier allocated to the mover module; or, A second target storage area is determined based on the storage duration of the information stored in the storage area corresponding to the allocable mover identifier; wherein, the second target storage area is the storage area in the storage area corresponding to the allocable mover identifier whose storage duration meets the preset duration condition. The mover identifier corresponding to the second target storage area is used as the mover identifier allocated to the mover module.

13. The control method for the linear motor device according to claim 11, characterized in that, The control method is applied to a control device, which is either a local control device or a host computer for the linear motor equipment. Before identifying the physical tag set on the outer surface of the moving submodule and obtaining the tag identification information carried by the physical tag, the method further includes: The local control device or the host computer binds the moving submodule to the tag identification information carried by the physical tag of the moving submodule.

14. The control method for the linear motor device according to claim 13, characterized in that, When the tag identification information is bound to the moving submodule via the local control device, if the control method is applied to the host computer, the method further includes: receiving the binding result sent by the local control device, which binds the tag identification information to the moving submodule; When the tag identification information is bound to the moving submodule via the host computer, if the control method is applied to the local control device, the method further includes: receiving the binding result sent by the host computer, which binds the tag identification information to the moving submodule.

15. The control method for the linear motor device according to claim 14, characterized in that, The tag recognition module is connected to the host computer; The step of binding the tag identification information to the moving sub-module via the local control device includes: When the host computer obtains the location information of the moving sub-module, it controls the tag recognition module to perform tag recognition operation and obtain tag identification information. The obtained tag identification information is then 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 recognition module based on the location information of the moving sub-module. The step of binding the tag identification information to the moving sub-module via the host computer includes: When the host computer obtains the position information of the moving sub-module, it controls the tag recognition module to perform tag recognition operation and obtain tag identification information. The host computer then binds the obtained tag identification information to the moving sub-module corresponding to the tag recognition module.

16. The control method for the linear motor device according to claim 14, characterized in that, The tag recognition module is connected to the local control device; The step of binding the tag identification information to the moving sub-module via the local control device includes: After the local control device obtains the position information of the moving sub-module, it controls the tag recognition module to perform tag recognition operation and obtain tag identification information, and binds the obtained tag identification information to the moving sub-module corresponding to the tag recognition module. The step of binding the tag identification information to the moving sub-module via the host computer includes: The local control device sends the acquired tag identification information to the host computer, instructing the host computer to identify the tag identification information and the moving sub-module corresponding to the tag identification module, and the host computer binds the tag identification information to the moving sub-module corresponding to the tag identification module.

17. The control method for a linear motor device according to claim 10, characterized in that, If it is determined that the moving submodule cooperates with the target device, the method further includes at least one of the following: After the cooperation result between the moving submodule and the target device indicates successful loading, the object identifier of the loaded object is updated to the moving submodule's identifier; If the collaboration result between the moving submodule and the target device indicates the addition of a new object, the combined identifier is updated to the moving submodule's identifier; wherein, the combined identifier includes the identifiers of each object carried by the moving submodule.

18. The control method for a linear motor device according to claim 2, characterized in that, The control of the moving submodule in cooperation with the target device includes: Obtain the first control parameter, and control the moving submodule to cooperate with the target device according to the first control parameter; The control of the moving submodule to leave the target device includes: The second control parameter is obtained, and the moving submodule is controlled to leave the target device and move to the next operating device after the target device according to the second control parameter.

19. The control method for a linear motor device according to claim 18, characterized in that, The second control parameter includes any one or a combination of the following: Speed ​​control data, acceleration control data, time control data, collision avoidance distance control data, position control data; The speed control data is used to indicate the moving speed of the moving submodule during its movement to the next operating device; the speed control data includes a expected speed value and / or a speed limit value; the expected speed value is used to characterize the expected speed value of the moving submodule when it reaches the position corresponding to the next operating device; the speed limit value is used to characterize the upper limit speed value that the moving submodule cannot exceed and / or the lower limit speed value that it cannot fall below during its movement to the next operating device; The acceleration control data is used to indicate the acceleration of the moving submodule during its movement to the next operating device; The time control data is used to indicate the time spent by the moving submodule in moving to the next operating device; The anti-collision distance control data is used to indicate the anti-collision distance between the moving submodule and other moving modules during the process of the moving submodule moving to the next operating device; The position control data is used to indicate the position of the next operating device.

20. The control method for a linear motor device according to claim 1, characterized in that, The method further includes: If the target device is a feeding device, after the moving submodule and the feeding device successfully cooperate, a correspondence is established between the conveying history information of the moving submodule and the object fed by the feeding device.

21. A control device for a linear motor, characterized in that, The linear motor device includes: The system comprises multiple moving sub-modules and a stator line, with multiple operating devices distributed around the stator line. Each moving sub-module moves along the stator line and passes through its respective operating device, and each moving sub-module is independently controlled. The control device includes: A unit is established to obtain the sub-identifier of the sub-module; construct a data structure corresponding to each sub-module; wherein, the data structure includes a processing operation variable for recording the processing operation status, the processing operation variable is associated with a storage area through address mapping, and the storage area is used to store transmission history information; and establish a correspondence between the sub-module and the corresponding data structure according to the data structure and the sub-identifier of each sub-module. The acquisition unit is used to acquire the transport history information corresponding to the moving submodule when it is detected that the moving submodule has moved to the target position corresponding to the target device, and obtain the acquisition result; wherein, the transport history information is obtained based on the transport-related operations experienced by the moving submodule before moving to the target position, and the target device is the operating device currently facing the moving submodule among the plurality of operating devices; The judgment unit is used to determine whether the moving submodule cooperates with the target device based on the acquisition result of the transmission history information.

22. A linear motor device, characterized in that, include: Multiple moving sub-modules, stator line and control device; Multiple operating devices are distributed around the stator line; Each of the moving sub-modules moves along the stator line and passes through each of the operating devices; The control device is used to perform the control method for the linear motor device as described in any one of claims 1 to 20.

23. The linear motor device according to claim 22, characterized in that, The outer surface of the moving sub-module is provided with an identifiable physical tag, and the tag identification information carried by the physical tag is unique and unchanging; The linear motor device further includes a tag recognition module connected to the control device. The tag recognition module is deployed along the stator line based on the moving direction of the moving sub-module and the setting position of the physical tag; The tag recognition module is used to identify the physical tag of the moving sub-module when there is a corresponding moving sub-module, 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 moving sub-module based on the tag identification information.

24. The linear motor device according to claim 23, characterized in that, The tag recognition module is deployed upstream of the first operating device corresponding to the stator line or at the starting operating position of the first operating device, wherein the upstream position is before the starting operating position.

25. The linear motor device according to claim 23, characterized in that, The tag identification module and the physical tag are disposed in the accommodating space formed between the stator line and the moving sub-module.

26. The linear motor device according to claim 23, characterized in that, The linear motor device also includes a transfer mechanism, which is used to transfer the drive module; The tag recognition module is located at the position corresponding to the transfer mechanism and is used to recognize the physical tag of the moving submodule during the transfer process of the moving submodule by the transfer mechanism.

27. The linear motor device according to claim 23, characterized in that, The tag recognition module is located at the end of the stator line and is used to identify the physical tag of the moving sub-module when the moving sub-module leaves or enters the stator line.

28. The linear motor device according to claim 23, characterized in that, The label recognition module includes a first label recognition module and / or a second label recognition module. The first label recognition module is located at the corresponding position of each of the operating devices, and the second label recognition module is located at the position between any two of the operating devices.

29. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores executable program code that, when executed, implements the method as described in any one of claims 1 to 20.

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