Parameter configuration method and device, control method and device, conveying line body and storage medium

Abstract

The invention provides a parameter configuration method and device, a control method and device, a conveying line body and a computer readable storage medium, and relates to the technical field of magnetic suspension conveying, and the parameter configuration method comprises the steps: obtaining the assembly type of each stator assembly in the conveying line body under the condition that the construction of the conveying line body is completed, and acquiring a control identifier corresponding to the component type, the control identifier being used for movement control of the moving component, and configuring the control identifier for the stator component. When the conveying line body is put into use, each moving part moves to one stator assembly, the conveying line body can carry out movement control on the moving parts according to the control marks corresponding to the stator assemblies to which the moving parts move, and accurate control over the moving parts in the conveying line body can be achieved.

Description

Technical Field

[0001] The present application relates to the field of magnetic levitation transportation technology, and more specifically, to a parameter configuration method, a control method, a device, a conveying line and a computer-readable storage medium in the field of magnetic levitation transportation technology. Background Art

[0002] In the fields of industrial production, logistics automation, etc., conveyor lines are a common equipment used to automatically transport objects. The conveyor line is composed of a large number of stators and movers, which move along the stators. These stators and movers work together to correctly and orderly transport objects. Since there are many stators that make up the conveyor line, how to achieve precise control of the movers to ensure that the conveyor line can correctly and orderly transport objects has become an urgent problem to be solved. Summary of the invention

[0003] The present application provides a parameter configuration method, a control method, a device, a conveyor line body and a computer-readable storage medium. The present application can realize precise control of moving parts in the conveyor line body, ensure that the conveyor line body can transport objects correctly and orderly, and avoid the occurrence of moving parts derailing or deviating from the moving path.

[0004] In a first aspect, a parameter configuration method is provided, which comprises: when a conveyor line body is constructed, for each stator component in the conveyor line body, obtaining a component type of the stator component; obtaining a control identifier corresponding to the component type; wherein the control identifier is used for movement control of a moving component, and the moving component moves along the stator component; and configuring the control identifier for the stator component.

[0005] In the above technical scheme, the parameter configuration method provided in the embodiment of the present application, by adopting a technical scheme of configuring the control identifier for the stator component, configuring the control identifier for each stator component in the conveyor line body after the conveyor line body is built, and configuring the control identifier for the stator component. When the control identifier is configured for all stator components in the conveyor line body, when the conveyor line body is put into use, each time a moving component moves to a stator component, the conveyor line body will control the movement of the moving component according to the control identifier corresponding to the stator component to which the moving component moves, including whether to control the moving component to continue moving at the stator component to which it moves, or to remain stationary, or to change the moving path, etc., which can realize precise control of the moving components in the conveyor line body, ensure that the conveyor line body can correctly and orderly transport objects, and avoid the derailment or deviation of the moving path of the moving components.

[0006] In a possible implementation, obtaining a control identifier corresponding to the component type includes:

[0007] If the component type is the first type, the first identifier corresponding to the first type is used as the control identifier; wherein the stator component whose component type is the first type can convert the moving path of the moving part; the first identifier is used to indicate whether to convert the moving path when the moving part moves to the stator component whose component type is the first type.

[0008] In a possible implementation, obtaining the control identifier corresponding to the component type includes: if the component type is the second type, using the second identifier corresponding to the second type as the control identifier; wherein the stator component of the second type is used to connect to the moving part, and the stator component of the second type is mounted on a lifting device; the second identifier is used to instruct the moving part to stop moving when it moves to the stator component of the second type.

[0009] In one possible implementation, obtaining the control identifier corresponding to the component type includes: if the component type is the third type, using the third identifier corresponding to the third type as the control identifier; wherein the stator component whose component type is the third type cannot convert the moving path of the moving part and cannot connect the moving part; the third identifier is used to indicate that when the moving part moves to the stator component whose component type is the third type, the moving part cannot convert the moving path and the moving part is prohibited from stopping moving.

[0010] In one possible implementation, after configuring the control identifier for the stator component, the parameter configuration method further includes: using a preset display method to visually display the stator component whose component type is the first type, and / or the stator component whose component type is the second type; wherein the preset display method includes at least one of a color display method, a highlight display method and a transparent display method.

[0011] In a second aspect, a control method is provided, which is applied to a conveyor line body, wherein the conveyor line body includes a moving part and multiple stator components, and for each stator component, the stator component carries a control identifier, and the control identifier is configured to the stator component according to the above-mentioned parameter configuration method; the control method includes: when the conveyor line body is running, determining the target component where the moving part is currently located from the multiple stator components; acquiring the control identifier carried by the target component; and controlling the moving part to move along the target component according to the control identifier carried by the target component.

[0012] In the above technical scheme, the control method provided in the embodiment of the present application adopts a technical scheme of determining the target component where the moving component is currently located from multiple stator components when the conveyor line is running, obtaining the control identifier carried by the target component, and controlling the moving component to move along the target component according to the control identifier carried by the target component. This realizes that when the conveyor line is running, the moving component is controlled to move according to the control identifier carried by each stator component in the conveyor line, thereby improving the accuracy of controlling the moving component in the conveyor line, ensuring that the conveyor line transports objects correctly and orderly, and avoiding the occurrence of derailment or deviation of the moving component from the moving path.

[0013] In one possible implementation, controlling the moving component to move along the target component according to the control identifier carried by the target component includes: if the control identifier carried by the target component is a first identifier, controlling the moving component to move along the target component and changing the moving direction to change the moving path.

[0014] In a possible implementation, controlling the moving component to move along the target component according to the control identifier carried by the target component includes: if the control identifier carried by the target component is a second identifier, controlling the moving component to stop at the target component.

[0015] In one possible implementation, controlling the moving component to move along the target component according to the control identifier carried by the target component includes: if the control identifier carried by the target component is a third identifier, controlling the moving component to maintain the original moving direction unchanged and continue to move along the target component.

[0016] In a third aspect, a parameter configuration device is provided, the parameter configuration device comprising:

[0017] A first acquisition module is used to acquire the component type of each stator component in the conveyor line body when the conveyor line body is built;

[0018] A second acquisition module is used to acquire a control identifier corresponding to the component type; wherein the control identifier acts on the movement control of the moving component, and the moving component moves along the stator component;

[0019] An identification configuration module is used to configure the control identification for the stator assembly.

[0020] In a possible implementation, the second acquisition module includes:

[0021] A first acquisition unit is used to use a first identifier corresponding to the first type as the control identifier if the component type is the first type; wherein the stator component whose component type is the first type can convert the moving path of the moving part; and the first identifier is used to indicate whether to convert the moving path when the moving part moves to the stator component whose component type is the first type.

[0022] In a possible implementation, the second acquisition module includes:

[0023] The second acquisition unit is used to use the second identifier corresponding to the second type as the control identifier if the component type is the second type; wherein the stator component of the second type is used to connect the moving part, and the stator component of the second type is carried on the lifting device; the second identifier is used to instruct the moving part to stop moving when it moves to the stator component of the second type.

[0024] In a possible implementation, the second acquisition module includes:

[0025] A third acquisition unit is used to use the third identifier corresponding to the third type as the control identifier if the component type is the third type; wherein the stator component whose component type is the third type cannot convert the moving path of the moving part and cannot connect the moving part; the third identifier is used to indicate that when the moving part moves to the stator component whose component type is the third type, the moving part cannot convert the moving path and is prohibited from stopping moving.

[0026] In a possible implementation, the parameter configuration device further includes:

[0027] A display unit is used to visually display, using a preset display method, that the component type is a stator component of the first type, and / or that the component type is a stator component of the second type; wherein the preset display method includes at least one of a color display method, a highlight display method and a transparent display method.

[0028] In a fourth aspect, a control device is provided, which is configured on a conveyor line body, wherein the conveyor line body includes a moving part and a plurality of stator assemblies, and for each stator assembly, the stator assembly carries a control identifier, and the control identifier is configured to the stator assembly according to the above-mentioned parameter configuration method; the control device includes:

[0029] A stator determination module, used to determine the target assembly where the moving component is currently located from the plurality of stator assemblies when the conveyor line is running;

[0030] An identification acquisition module, used to acquire the control identification carried by the target component;

[0031] A mover control module is used to control the moving component to move along the target component according to the control identifier carried by the target component.

[0032] In a possible implementation, the mover control module includes:

[0033] The first control unit is used to control the moving component to move along the target component and change the moving direction so as to change the moving path if the control identifier carried by the target component is the first identifier.

[0034] In a possible implementation, the mover control module includes:

[0035] The second control unit is used to control the moving component to stop at the target component if the control identifier carried by the target component is a second identifier.

[0036] In a possible implementation, the mover control module includes:

[0037] The third control unit is used to control the moving component to keep the original moving direction unchanged and continue to move along the target component if the control identifier carried by the target component is the third identifier.

[0038] In a fifth aspect, a conveyor line body is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the conveyor line body executes the parameter configuration method in the first aspect or any possible implementation of the first aspect.

[0039] In a sixth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the parameter configuration method in the first aspect or any possible implementation of the first aspect.

[0040] In the seventh aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the parameter configuration method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic flow chart of a parameter configuration method provided in an embodiment of the present application is shown;

[0042] Figure 2 A schematic diagram of the structure of a "Y" type stator assembly is shown;

[0043] Figure 3 A schematic diagram of the structure of a conveyor line body including a "Y" type stator assembly is shown;

[0044] Figure 4 A schematic diagram of the structure of a "ten" type stator assembly is shown;

[0045] Figure 5 A schematic diagram of the structure of a conveyor line body including a "ten" type stator assembly is shown;

[0046] Figure 6 A schematic structural diagram of a conveyor line body including a second type of stator assembly is shown;

[0047] Figure 7 A schematic structural diagram of a conveyor line body including a third type of stator assembly is shown;

[0048] Figure 8 A schematic flow chart of a control method provided in an embodiment of the present application is shown;

[0049] Fig. 9 A schematic diagram of the structure of a parameter configuration device provided in an embodiment of the present application is shown;

[0050] Fig.10 A schematic diagram of the structure of a control device provided in an embodiment of the present application is shown;

[0051] Fig.11 A schematic structural diagram of a conveyor line body provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0052] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0053] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0054] In the fields of industrial production, logistics automation, etc., conveyor lines are a common equipment used to automatically transport objects. The conveyor line consists of a large number of stators and movers, which move along the stators. These stators and movers work together to correctly and orderly transport objects. Since there are many stators that make up the conveyor line, it is very important to achieve precise control of the movers to ensure that the conveyor line can transport objects correctly and orderly.

[0055] In order to achieve precise control of moving parts in a conveyor line, the present application provides a parameter configuration method, a control method, a device, a conveyor line and a computer-readable storage medium, which can not only ensure that the conveyor line can transport objects correctly and orderly, but also prevent the moving parts from derailing or deviating from the moving path.

[0056] The following is an embodiment of a parameter configuration method provided in an embodiment of the present application.

[0057] Figure 1 A schematic flow chart of a parameter configuration method provided in an embodiment of the present application is shown, such as Figure 1 As shown, the parameter configuration method provided in the embodiment of the present application is applied to a conveyor line body, which is used to convey objects. The conveyor line body includes multiple stator assemblies and multiple moving parts, and the moving parts move along the stator assemblies. The moving parts are, for example, movable subassemblies, and the stator assembly is used to drive the movable subassembly by magnetic coupling so that the movable subassembly moves along the stator assembly.

[0058] The above parameter configuration method includes the following schemes:

[0059] S110: When the conveyor line is constructed, for each stator assembly in the conveyor line, obtain the assembly type of the stator assembly;

[0060] S120: Obtain a control identifier corresponding to the component type;

[0061] S130: configuring a control identifier for the stator assembly.

[0062] In an exemplary embodiment, the completion of the construction of the conveyor line body can be understood as the completion of the construction of the moving path for the moving parts. The construction of the conveyor line body can be divided into online construction of the conveyor line body and offline construction of the conveyor line body. The online construction of the conveyor line body refers to the construction of the conveyor line body through the line body construction tool to generate a sketch of the conveyor line body, and the offline construction of the conveyor line body refers to the construction of the conveyor line body in a real environment.

[0063] The stator assembly used to build the conveyor line body has assembly types, and there are multiple assembly types. Each assembly type corresponds to a control identifier, and the control identifier is used for movement control of the moving parts. And each assembly type corresponds to a different control identifier, that is, there is a corresponding relationship between the assembly type and the control identifier, and the corresponding relationship includes multiple assembly types and multiple assembly types corresponding to the multiple assembly types.

[0064] The control identifier is used for the movement control of the moving part, including controlling the moving part to stop moving, controlling the moving part to keep moving while keeping the moving direction unchanged (equivalent to controlling the moving part to keep moving in a straight line), changing the moving direction of the moving part while controlling the moving part to keep moving (equivalent to adjusting the moving direction during the movement of the moving part, for example, changing the moving path), and the like.

[0065] Each stator component in the conveyor line body is represented as a stator component Di. When the conveyor line body is constructed, the component type of the stator component Di is obtained. Based on the correspondence between the component type and the control identifier, the control identifier corresponding to the component type of the stator component Di can be queried, and then the queried control identifier is configured to the stator component Di, thereby completing the corresponding control identifier configuration for all stator components in the conveyor line body.

[0066] The parameter configuration method provided in the embodiment of the present application adopts a technical solution of obtaining the component type of the stator component for each stator component in the conveyor line body after the conveyor line body is built, obtaining the control identifier corresponding to the component type, and configuring the control identifier for the stator component. When the control identifier is configured for all stator components in the conveyor line body, when the conveyor line body is put into use, each time a moving component moves to a stator component, the conveyor line body will control the movement of the moving component according to the control identifier corresponding to the stator component to which the moving component moves, including whether to control the moving component to continue moving at the stator component to which it moves, or to remain stationary, or to change the moving path, etc., so as to realize precise control of the moving components in the conveyor line body, ensure that the conveyor line body can correctly and orderly transport objects, and avoid the derailment of the moving components or deviation from the moving path.

[0067] The following Figure 1 The specific implementation methods of each step in the illustrated embodiment are described as follows:

[0068] The component type includes at least three types, for example, a first type, a second type and a third type, the first type corresponds to a first identifier, the second type corresponds to a second identifier, and the third type corresponds to a third identifier.

[0069] The stator assembly whose component type is the first type can convert the moving path of the moving part. Then, the first identifier is used to indicate whether to convert the moving path when the moving part moves to the stator assembly whose component type is the first type. Among them, the first type is divided into multiple sub-types, and the stator assembly of each sub-type is different in structural shape. The structural shape of the stator assembly of the first type can be understood by road intersections in real life, that is, multiple sub-types include "Y" type, "+" type, "T" type, etc. If the moving part is understood as a vehicle, the "Y" type stator assembly is equivalent to the "Y" intersection, the "+" type stator assembly is equivalent to the "+" intersection, and the "T" type stator assembly is equivalent to the "T" intersection.

[0070] like Figure 2 and Figure 3 As shown, Figure 2 A schematic diagram showing the structure of a "Y" type stator assembly is shown. Figure 3 A schematic structural diagram of a conveyor line body including a "Y" type stator assembly is shown. Figure 2 In the figure, 300 represents a "Y" type stator assembly, 301-302 represent the docking ends of the stator assembly 300 and other stator assemblies, respectively. Assuming that the moving part enters the stator assembly 300 from the docking end 301, the moving part can choose to leave the stator assembly 300 from the docking end 302 or the docking end 303. If the moving part is controlled to leave the stator assembly 300 from the docking end 303, it means that the moving part is controlled to keep moving while keeping the moving direction unchanged, that is, the moving path of the moving part is not changed; if the moving part is controlled to leave the stator assembly 300 from the docking end 302, it means that the moving direction of the moving part is changed while the moving part is controlled to keep moving, that is, the moving path of the moving part is changed. Figure 3 A completed conveyor line body 100 is shown in the figure, 300-330 all represent "Y" type stator assemblies, and 200-230 all represent moving parts.

[0071] like Figure 4 and Figure 5 As shown, Figure 4 A schematic diagram of the structure of a "ten" type stator assembly is shown, Figure 5 A schematic structural diagram of a conveyor line body including a "ten" type stator assembly is shown. Figure 4400 represents a "+" type stator assembly, and 401-404 represent the docking ends of the stator assembly 400 and other stator assemblies, respectively. Assuming that the moving part enters the stator assembly 400 from the docking end 401, the moving part can be controlled to leave the stator assembly 400 from any docking end of the docking ends 401 to 404. If the moving part is controlled to leave the stator assembly 400 from the docking end 403, it means that the moving part is controlled to keep moving while keeping the moving direction unchanged, that is, the moving path of the moving part is not changed; if the moving part is controlled to leave the stator assembly 400 from the docking end 404 or the docking end 402, it means that the moving direction of the moving part is changed while the moving part is controlled to keep moving, that is, the moving path of the moving part is changed. Figure 5 FIG. 5 shows a completed conveyor line 500. In the conveyor line 500, except for the "ten" type stator assembly 400, all other rectangular grids belong to other types of stator assemblies. The moving parts in the conveyor line 500 are Figure 5 Not shown.

[0072] The stator assembly of the second type is used to connect the moving part, and the stator assembly of the second type is mounted on the lifting device. Then, the second mark is used to indicate that the moving part stops moving when it moves to the stator assembly of the second type. The lifting device is, for example, an elevator. The lifting device moves up and down to move the stator assembly of the second type, that is, changes the position of the stator assembly of the second type. When the moving part stops on the stator assembly of the second type, the lifting device changes the position of the stator assembly of the second type, so that the moving part can change the moving path.

[0073] like Figure 6 As shown, Figure 6 shows a schematic structural diagram of a conveyor line body including a second type of stator assembly, Figure 6 The figure shows a completed conveyor line body 600, 800 represents a lifting device, the conveyor line body 600 includes three layers of sub-line bodies, namely sub-line body 601-sub-line body 603, 700 represents a second type of stator assembly, 7011, 7013, 7021, 7023, 7031 and 7033 represent other types of stator assemblies, and the moving parts are Figure 6Not shown. The lifting device 800 can drive the stator assembly 700 to move to any one of the positions 701-703. For example, the lifting device 800 drives the stator assembly 700 to move to position 701, and the stator assembly 7011, the stator assembly 700 and the stator assembly 7013 form a conductive line body, and the moving part can move from the stator assembly 7011 to the stator assembly 7013; if the moving part stops at the stator assembly 700, the lifting device 800 drives the stator assembly 700 to move to position 702, then, the moving part can move from the stator assembly 700 to the stator assembly 7023, or, from the stator assembly 700 to the stator assembly 7021, so as to realize the connection of the moving part to the sub-line body 602. For other connection situations, it is the same as the situation of connecting the moving part to the sub-line body 602, and the embodiments of the present application will not be repeated.

[0074] The stator assembly whose component type is the third type cannot convert the moving path of the moving part and cannot connect the moving part. Then, the third identifier is used to indicate that when the moving part moves to the stator assembly whose component type is the third type, the moving part cannot convert the moving path and the moving part is prohibited from stopping moving. That is, when the moving part moves to the stator assembly whose component type is the third type, if there is no special requirement (for example, the stator assembly is fixed and the stator assembly is not a position where the moving part needs to temporarily stop), the moving part will continue to move along the stator assembly whose component type is the third type, and the moving direction will not change.

[0075] like Figure 7 As shown, Figure 7 shows a schematic structural diagram of a conveyor line body including a third type of stator assembly, Figure 7 A conveyor line body 700 is shown in FIG. 701-705, all of which represent the third type of stator assembly. The moving parts are Figure 7 Not shown.

[0076] In a possible implementation, the above-mentioned method of obtaining the control identifier corresponding to the component type includes the following schemes:

[0077] If the component type is the first type, the first identifier corresponding to the first type is used as the control identifier;

[0078] If the component type is the second type, the second identifier corresponding to the second type is used as the control identifier;

[0079] If the component type is the third type, the third identifier corresponding to the third type is used as the control identifier.

[0080] If the component type is the first type, the first identifier corresponding to the first type is used as the control identifier, and the first identifier is further configured to the stator component of the component type of the first type. When the moving component moves to the stator component of the component type of the first type, it is decided whether to change the moving path of the moving component according to the first identifier.

[0081] If the component type is the second type, the second identifier corresponding to the second type is used as the control identifier, and the second identifier is further configured to the stator component of the component type of the second type. When the moving part moves to the stator component of the component type of the second type, the moving part is controlled to stop at the stator component of the component type of the second type according to the second identifier decision, and the upgrading device is controlled, so that the moving part and the stator component of the component type of the second type are moved to other positions through the upgrading device, so as to realize the docking operation of the moving part.

[0082] If the component type is the third type, the third identifier corresponding to the third type is used as the control identifier, and the third identifier is further configured to the stator component of the component type of the third type. When the moving part moves to the stator component of the component type of the third type, the moving part is controlled to continue to move in the original moving direction according to the third identifier.

[0083] By adopting the above technical solution, the movement of the moving parts can be controlled according to the corresponding control mark of each stator component in the conveyor line body, which is beneficial to improving the accuracy of the control of the moving parts.

[0084] In a possible implementation, after configuring the control mark for the stator assembly, the parameter configuration method further includes the following scheme:

[0085] A preset display mode is used to visually display a stator component whose component type is the first type, and / or a stator component whose component type is the second type; wherein the preset display mode includes at least one of a color display mode, a highlight display mode and a transparent display mode.

[0086] For example, if the number of the first type of stator assemblies included in the conveyor line body is 5 and the number of the second type of stator assemblies is 3, then in the monitoring device of the conveyor line body, the 5 first type of stator assemblies are highlighted in blue, and the 3 second type of stator assemblies are highlighted in red, thereby facilitating the monitoring personnel to accurately distinguish and pay attention to the first type of stator assemblies and the second type of stator assemblies, and also facilitating the monitoring personnel to quickly locate the stator assemblies.

[0087] The following is an embodiment of a control method provided in an embodiment of the present application.

[0088] Figure 8A schematic flow chart of a control method provided in an embodiment of the present application is shown, such as Figure 8 As shown, the control method provided in an embodiment of the present application is applied to a conveyor line body, which includes a moving part and multiple stator components. For each stator component, each stator component carries a control identifier, and the control identifier is configured for a given subcomponent according to the above-mentioned parameter configuration method.

[0089] The above control method includes the following schemes:

[0090] S210: When the conveyor line is running, determine the target assembly where the moving component is currently located from a plurality of stator assemblies;

[0091] S220: Obtaining a control identifier carried by the target component;

[0092] S230: Control the moving component to move along the target component according to the control identifier carried by the target component.

[0093] In an exemplary embodiment, when the conveyor line body is running, the moving parts in the conveyor line body will move along the stator assembly. The movement control of each moving part includes determining the target assembly where the moving part is currently located from the multiple stator assemblies included in the conveyor line body. The target assembly can be understood as the stator assembly to which the moving part currently moves. After determining the target assembly, the control identifier carried by the target assembly can be obtained. Because the control identifier acts on the movement control of the moving part, the moving part is controlled to move along the target assembly through the control identifier carried by the target assembly, including whether to control the moving part to continue moving along the target assembly, or to stop at the target assembly, or to change the moving path at the target assembly, etc.

[0094] The control method provided in the embodiment of the present application adopts a technical solution of determining the target component where the moving part is currently located from multiple stator components when the conveyor line is running, obtaining the control identifier carried by the target component, and controlling the moving part to move along the target component according to the control identifier carried by the target component. This method realizes that when the conveyor line is running, the moving part is controlled to move according to the control identifier carried by each stator component in the conveyor line, thereby improving the accuracy of controlling the moving parts in the conveyor line, ensuring that the conveyor line transports objects correctly and orderly, and avoiding the occurrence of derailment or deviation of the moving parts from the moving path.

[0095] In a possible implementation, the controlling the moving component to move along the target component according to the control identifier carried by the target component includes the following solutions:

[0096] If the control identifier carried by the target component is the first identifier, controlling the moving component to move along the target component and change the moving direction to change the moving path;

[0097] If the control identifier carried by the target component is the second identifier, controlling the moving component to stop at the target component;

[0098] If the control identifier carried by the target component is the third identifier, the moving component is controlled to keep the original moving direction unchanged and continue to move along the target component.

[0099] If the control identifier carried by the target component is the first identifier, it is determined whether the first identifier indicates to control the moving component to move along the target component and change the moving direction; if so, the moving component is controlled to move along the target component and change the moving direction to change the moving path; Figure 2 As shown, assuming that the target component is the stator component 300, the moving part enters the stator component 300 from the docking end 301, and the first mark determines that the moving part needs to move along the stator component 300 and change the moving direction, and then the first mark determines that the docking end of the moving part leaving the stator component 300 is the docking end 302, and then the moving part is controlled to leave the stator component 300 from the docking end 302, so as to control the moving part to enter a new moving path. If not, the moving part is controlled to move along the stator component 300 and change the moving direction, that is, keep moving along the original moving path, as shown in FIG. Figure 2 As shown, assuming that the target component is the stator component 300, the moving part enters the stator component 300 from the docking end 301, and through the first identification, it is determined that the moving part does not need to move along the stator component 300 and change the moving direction, and then through the first identification, it is obtained that the docking end of the moving part leaving the stator component 300 is the docking end 303, and then the moving part is controlled to leave the stator component 300 from the docking end 303, so as to control the moving part to maintain the original moving path.

[0100] like Figure 6 As shown, assuming that the upgrading device 800 drives the stator assembly 700 to move to the position 701, at this time the target object is the stator assembly 700, and the control identifier carried by the acquired target assembly is the second identifier, then according to the indication of the second identifier, the moving part is controlled to stop at the sub-assembly 700. When it is determined that the moving part stops at the sub-assembly 700, the upgrading device 800 is controlled to drive the stator assembly 700 and the moving part to move to the position 702, and the moving part can move in the sub-line body 602, thereby realizing the docking operation of the moving part, that is, moving the moving part from the sub-line body 601 to the sub-line body 602.

[0101] like Figure 7As shown, if the target component is any one of the stator components 701-stator components 705, then the control identifier carried by the acquired target component is the third identifier, and the moving part is controlled to keep the original moving direction unchanged and continue to move along the target component, that is, the moving part is controlled to keep moving in a straight line, for example, moving along the stator component 701 to the stator component 705, or moving along the stator component 705 to the stator component 701, and the moving part does not stop moving during the movement.

[0102] When the conveyor line is running, the movement of the moving parts is controlled according to the control mark carried by each stator component in the conveyor line, which can achieve precise control of the moving parts and ensure that the conveyor line conveys objects correctly and orderly.

[0103] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0104] Fig. 9 A schematic diagram of the structure of a parameter configuration device provided in an embodiment of the present application is shown. Fig. 9 As shown, the parameter configuration device 900 includes:

[0105] A first acquisition module 910 is used to acquire the component type of each stator component in the conveyor line body when the conveyor line body is built;

[0106] A second acquisition module 920 is used to acquire a control identifier corresponding to the component type; wherein the control identifier acts on the movement control of the moving component, and the moving component moves along the stator component;

[0107] The identification configuration module 930 is used to configure the control identification for the stator assembly.

[0108] In a possible implementation, the second obtaining module 920 includes:

[0109] A first acquisition unit is used to use a first identifier corresponding to the first type as the control identifier if the component type is the first type; wherein the stator component whose component type is the first type can convert the moving path of the moving part; and the first identifier is used to indicate whether to convert the moving path when the moving part moves to the stator component whose component type is the first type.

[0110] In a possible implementation, the second obtaining module 920 includes:

[0111] The second acquisition unit is used to use the second identifier corresponding to the second type as the control identifier if the component type is the second type; wherein the stator component of the second type is used to connect the moving part, and the stator component of the second type is carried on the lifting device; the second identifier is used to instruct the moving part to stop moving when it moves to the stator component of the second type.

[0112] In a possible implementation, the second obtaining module 920 includes:

[0113] A third acquisition unit is used to use the third identifier corresponding to the third type as the control identifier if the component type is the third type; wherein the stator component whose component type is the third type cannot convert the moving path of the moving part and cannot connect the moving part; the third identifier is used to indicate that when the moving part moves to the stator component whose component type is the third type, the moving part cannot convert the moving path and is prohibited from stopping moving.

[0114] In a possible implementation, the parameter configuration device 900 further includes:

[0115] A display unit is used to visually display, using a preset display method, that the component type is a stator component of the first type, and / or that the component type is a stator component of the second type; wherein the preset display method includes at least one of a color display method, a highlight display method and a transparent display method.

[0116] It should be noted that the parameter configuration device provided in the above embodiment only uses the division of the above functional modules as an example when executing the parameter configuration method. In actual applications, the above functional allocation can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the parameter configuration device provided in the above embodiment and the parameter configuration method embodiment belong to the same concept, so for details not disclosed in the device embodiment of the present application, please refer to the above-mentioned parameter configuration method embodiment of the present application, which will not be repeated here.

[0117] Fig.10 A schematic diagram of the structure of a control device provided in an embodiment of the present application is shown. Fig.10 As shown, the control device 1000 is configured on a conveyor line body, and the conveyor line body includes a moving part and a plurality of stator assemblies. For each stator assembly, the stator assembly carries a control identifier, and the control identifier is configured to the stator assembly according to the above-mentioned parameter configuration method. The control device 1000 includes:

[0118] A stator determination module 1010 is used to determine the target assembly where the moving component is currently located from the plurality of stator assemblies when the conveyor line is running;

[0119] The identification acquisition module 1020 is used to acquire the control identification carried by the target component;

[0120] The mover control module 1030 is used to control the moving component to move along the target component according to the control identifier carried by the target component.

[0121] In a possible implementation, the mover control module 1030 includes:

[0122] The first control unit is used to control the moving component to move along the target component and change the moving direction so as to change the moving path if the control identifier carried by the target component is the first identifier.

[0123] In a possible implementation, the mover control module 1030 includes:

[0124] The second control unit is used to control the moving component to stop at the target component if the control identifier carried by the target component is a second identifier.

[0125] In a possible implementation, the mover control module 1030 includes:

[0126] The third control unit is used to control the moving component to keep the original moving direction unchanged and continue to move along the target component if the control identifier carried by the target component is the third identifier.

[0127] It should be noted that the control device provided in the above embodiment only uses the division of the above functional modules as an example when executing the control method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the control device and control method embodiments provided in the above embodiment belong to the same concept. Therefore, for details not disclosed in the device embodiments of the present application, please refer to the control method embodiments of the present application, which will not be repeated here.

[0128] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0129] Fig.11 A schematic diagram of the structure of a conveyor line provided in an embodiment of the present application is shown. Fig.11As shown, the conveyor line body 1100 includes: a memory 1101 and a processor 1102, wherein the memory 1101 stores an executable program code 11011, and the processor 1102 is used to call and execute the executable program code 11011 to perform a parameter configuration method.

[0130] In this embodiment, the conveyor line body can be divided into functional modules according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0131] In the case of dividing each functional module according to each function, the conveyor line body may include: a first acquisition module, a second acquisition module, an identification configuration module, a stator determination module, an identification acquisition module, a mover control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0132] The conveyor line provided in this embodiment is used to execute the above-mentioned parameter configuration method, and thus can achieve the same effect as the above-mentioned implementation method.

[0133] In the case of an integrated unit, the conveyor line body may include a processing module and a storage module. The processing module may be used to control and manage the movement of the conveyor line body. The storage module may be used to support the conveyor line body to execute relevant program codes and data.

[0134] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0135] This embodiment further provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a parameter configuration method in the above-mentioned embodiment.

[0136] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a parameter configuration method in the above-mentioned embodiment.

[0137] In addition, the conveyor line body provided in the embodiments of the present application can specifically be a chip, a component or a module, and the conveyor line body may include a connected processor and a memory; wherein the memory is used to store instructions, and when the conveyor line body is running, the processor can call and execute instructions so that the chip executes a parameter configuration method in the above-mentioned embodiment.

[0138] Among them, the conveyor line body, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding parameter configuration method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding parameter configuration method provided above, and will not be repeated here.

[0139] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0140] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0141] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A parameter configuration method, characterized in that: The parameter configuration method comprises: When the conveyor line body is built, for each stator assembly in the conveyor line body, obtain the assembly type of the stator assembly; Obtaining a control identifier corresponding to the component type; wherein the control identifier is used for movement control of a moving component, and the moving component moves along the stator component; The control identifier is configured for the stator assembly.

2. The parameter configuration method according to claim 1, characterized in that: The obtaining of the control identifier corresponding to the component type includes: If the component type is the first type, using a first identifier corresponding to the first type as the control identifier; Wherein, the stator component of the component type being the first type is capable of converting the moving path of the moving part; The first identifier is used to indicate whether to change the moving path when the moving component moves to a stator component of the first type.

3. The parameter configuration method according to claim 1, characterized in that: The obtaining of the control identifier corresponding to the component type includes: If the component type is the second type, using a second identifier corresponding to the second type as the control identifier; Wherein, the stator component of the second type is used for connecting the moving part, and the stator component of the second type is mounted on the lifting device; The second identifier is used to instruct the moving component to stop moving when the component type moves to the stator component of the second type.

4. The parameter configuration method according to claim 1, characterized in that: The obtaining of the control identifier corresponding to the component type includes: If the component type is the third type, using a third identifier corresponding to the third type as the control identifier; Wherein, the stator component of the third type of component cannot convert the moving path of the moving component and cannot connect the moving component; The third identifier is used to indicate that when the moving component moves to a stator component whose component type is the third type, the moving component cannot change the moving path and is prohibited from stopping moving.

5. The parameter configuration method according to any one of claims 1 to 4, characterized in that: After configuring the control identifier for the stator component, the parameter configuration method further includes: Using a preset display method to visually display that the component type is the stator component of the first type, and / or the component type is the stator component of the second type; The preset display mode includes at least one of a color display mode, a highlight display mode and a transparent display mode.

6. A control method, characterized in that: A conveyor line body is used, the conveyor line body includes a moving part and a plurality of stator components, and for each stator component, the stator component carries a control mark, and the control mark is configured to the stator component according to the parameter configuration method according to any one of claims 1 to 5; The control method comprises: When the conveyor line is running, determining the target assembly where the moving component is currently located from the plurality of stator assemblies; Obtaining the control identifier carried by the target component; The moving component is controlled to move along the target component according to the control identifier carried by the target component.

7. The control method according to claim 6, characterized in that: According to the control identifier carried by the target component, controlling the moving component to move along the target component includes: If the control identifier carried by the target component is the first identifier, the moving component is controlled to move along the target component and change the moving direction to change the moving path.

8. The control method according to claim 6, characterized in that: According to the control identifier carried by the target component, controlling the moving component to move along the target component includes: If the control identifier carried by the target component is the second identifier, the moving component is controlled to stop at the target component.

9. The control method according to claim 6, characterized in that: According to the control identifier carried by the target component, controlling the moving component to move along the target component includes: If the control identifier carried by the target component is the third identifier, the moving component is controlled to keep the original moving direction unchanged and continue to move along the target component.

10. A parameter configuration device, characterized in that: The parameter configuration device comprises: A first acquisition module is used to acquire the component type of each stator component in the conveyor line body when the conveyor line body is built; A second acquisition module is used to acquire a control identifier corresponding to the component type; wherein the control identifier acts on the movement control of the moving component, and the moving component moves along the stator component; An identification configuration module is used to configure the control identification for the stator assembly.

11. A control device, characterized in that: Configured on a conveyor line body, the conveyor line body includes a moving part and a plurality of stator components, for each stator component, the stator component carries a control identifier, and the control identifier is configured to the stator component according to the parameter configuration method according to any one of claims 1 to 5; The control device comprises: A stator determination module, used to determine the target assembly where the moving component is currently located from the plurality of stator assemblies when the conveyor line is running; An identification acquisition module, used to acquire the control identification carried by the target component; A mover control module is used to control the moving component to move along the target component according to the control identifier carried by the target component.

12. A conveyor line, characterized in that: The conveyor line body comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory, so that the conveyor line body executes the parameter configuration method as described in any one of claims 1 to 5, or executes the control method as described in any one of claims 6 to 9.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, it implements the parameter configuration method as described in any one of claims 1 to 5, or executes the control method as described in any one of claims 6 to 9.

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