Information tracing method and device of linear motor equipment and automatic production system

Abstract

The invention discloses an information tracing method and device of linear motor equipment and an automatic production system. The linear motor equipment comprises a stator wire body and a mover module. At least one operating device is distributed around the stator wire body, the mover module is suitable for moving along the stator wire body and passing through the operating device, the mover module is provided with an identifiable physical label, and the physical label carries unique and fixed label information; the method comprises the following steps: acquiring label information corresponding to a physical label of the mover module; and storing or acquiring rotor operation information of the rotor module based on the label information. According to the application, the traceability of rotor information can be ensured, and the movement control efficiency of the rotor module is remarkably improved, so that the transmission efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automated production systems, and in particular to an information tracing method, device and automated production system for linear motor equipment. Background Art

[0002] In recent years, linear motor technology has been increasingly used in automated production systems due to its advantages of high speed, high precision and flexible configuration. In a typical linear motor application, the stator modules are spliced ​​in sequence along the conveying direction to form a stator line, and the mover modules move along the stator line, enabling the mover modules to transport items.

[0003] Each mover module can be independently controlled by the control system. In order to identify each mover module, an identification information is randomly generated by a computer program and assigned to the mover module when the mover module is started. This information is used as a mover identification, so that each mover module can be distinguished based on the identification information and the relevant information of each mover module can be stored to facilitate the movement control of each mover module.

[0004] However, there are situations where the identification information of the mover module is reallocated. The reallocation of identification information causes the mover identification to change, making it impossible to accurately obtain the historical information of the mover module, that is, the historical information related to the mover module is lost, and the subsequent movement itinerary of the mover module cannot be determined, requiring manual intervention, affecting the transmission efficiency. Summary of the invention

[0005] The embodiment of the present application provides a method, device and automated production system for information tracing of linear motor equipment, which uses a unique and fixed physical label to identify each mover module, thereby achieving accurate tracing of the mover operation information, thereby improving the accuracy of the mover module movement control and the transmission efficiency of the system. The above technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides an information tracing method for a linear motor device, wherein the linear motor device comprises a stator line and a mover module; at least one operating device is distributed around the stator line, the mover module is suitable for moving along the stator line and passing through the operating device, and the mover module is provided with an identifiable physical label, and the physical label carries unique and fixed label information; the method comprises:

[0007] Obtaining label information corresponding to the physical label of the mover module;

[0008] Based on the tag information, the mover operation information of the mover module is stored or acquired.

[0009] In a second aspect, an embodiment of the present application provides an information tracing method for a linear motor device, wherein the linear motor device comprises a mobile control device, a stator line body and a mover module; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, and the mover module is provided with an identifiable physical tag, and the physical tag carries unique and fixed tag information; the mobile control device is connected to a host computer device, and the method is applied to the mobile control device, and the method comprises:

[0010] Obtaining label information corresponding to the physical label of the mover module;

[0011] Based on the tag information, the mover operation information of the mover module is stored or acquired.

[0012] In a third aspect, an embodiment of the present application provides an information tracing method for a linear motor device, wherein the linear motor device comprises a host computer device, a mobile control device, a stator line body and a mover module; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, and the mover module is provided with an identifiable physical label, and the physical label carries unique and fixed label information; the mobile control device is connected to the host computer device, and the method is applied to the host computer device, and the method comprises:

[0013] Obtaining label information corresponding to the physical label of the mover module;

[0014] Based on the tag information, the mover operation information of the mover module is stored or acquired.

[0015] In a fourth aspect, an embodiment of the present application provides an information tracing device for a linear motor device, wherein the linear motor device comprises a stator line and a mover module; at least one operating device is distributed around the stator line, the mover module is suitable for moving along the stator line and passing through the operating device, and the mover module is provided with an identifiable physical label, and the physical label carries unique and fixed label information; the information tracing device is connected to the linear motor device, and the information tracing device comprises:

[0016] A label recognition module, used to obtain label information corresponding to the physical label of the mover module;

[0017] The information processing module is used to store or obtain the mover operation information of the mover module based on the tag information.

[0018] In a fifth aspect, an embodiment of the present application provides a linear motor device, the linear motor device comprising a mobile control device, a stator line body and a mover module; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, the mover module is provided with an identifiable physical tag, and the physical tag carries unique and fixed tag information; the mobile control device is connected to the upper computer device, and the mobile control device comprises:

[0019] A label recognition module, used to obtain label information corresponding to the physical label of the mover module;

[0020] The information processing module is used to store or obtain the mover operation information of the mover module based on the tag information.

[0021] In a sixth aspect, an embodiment of the present application provides a linear motor device, the linear motor device comprising a host computer device, a mobile control device, a stator line body and a mover module; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, the mover module is provided with an identifiable physical label, and the physical label carries unique and fixed label information; the mobile control device is connected to the host computer device, and the host computer device comprises:

[0022] A label recognition module, used to obtain label information corresponding to the physical label of the mover module;

[0023] The information processing module is used to store or obtain the mover operation information of the mover module based on the tag information.

[0024] In the seventh aspect, an embodiment of the present application provides an automated production system, comprising: a linear motor device and an operating device, wherein the linear motor device comprises a stator wire body, a mover module, and an information tracing device as described in any one of the above items; the operating device is used to cooperate with the mover module.

[0025] In an eighth aspect, an embodiment of the present application provides an electronic device of a linear motor device, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the method steps described in any one of the above items.

[0026] In a ninth aspect, an embodiment of the present application provides a computer program product, comprising an executable program code, which implements the method steps described in any one of the above items when executed.

[0027] In one or more embodiments of the present application, the mover module is provided with an identifiable physical tag, and the physical tag carries unique and fixed tag information. By obtaining the tag information corresponding to the physical tag of the mover module, the mover operation information of the mover module can be stored or obtained based on the tag information, thereby ensuring the traceability of the mover operation information, avoiding the problem of information loss that may be caused by dynamic identification allocation, and significantly improving the mobile control efficiency of the mover module, thereby improving the transmission efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of a storage area corresponding to a mover module provided in an embodiment of the present application;

[0030] Figure 2 This is a first flow chart of the information tracing method provided in the embodiment of the present application;

[0031] Figure 3 This is a schematic diagram of the first structure of the linear motor device provided in the embodiment of the present application;

[0032] Figure 4 This is a second flow chart of the information tracing method provided in the embodiment of the present application;

[0033] Figure 5 This is a third flow chart of the information tracing method provided in the embodiment of the present application;

[0034] Figure 6 This is a fourth flow chart of the information tracing method provided in the embodiment of the present application;

[0035] Figure 7 This is a fifth flow chart of the information tracing method provided in the embodiment of the present application;

[0036] Figure 8 This is a sixth flow chart of the information tracing method provided in the embodiment of the present application;

[0037] Fig. 9 This is a seventh flow chart of the information tracing method provided in the embodiment of the present application;

[0038] Fig.10 A schematic diagram of a scenario of the information tracing method provided in an embodiment of the present application;

[0039] Fig.11 This is the eighth flow chart of the information tracing method provided in the embodiment of the present application;

[0040] Fig.12 This is a ninth flow chart of the information tracing method provided in the embodiment of the present application;

[0041] Fig.13 This is a tenth flow chart of the information tracing method provided in the embodiment of the present application;

[0042] Fig.14 This is the eleventh flow chart of the information tracing method provided in the embodiment of the present application;

[0043] Fig.15 This is a twelfth flow chart of the information tracing method provided in the embodiment of the present application;

[0044] Fig.16 This is the thirteenth flow chart of the information tracing method provided in the embodiment of the present application;

[0045] Fig.17 This is the fourteenth flow chart of the information tracing method provided in the embodiment of the present application;

[0046] Fig.18 This is a fifteenth flow chart of the information tracing method provided in the embodiment of the present application;

[0047] Fig.19 This is the sixteenth flow chart of the information tracing method provided in the embodiment of the present application;

[0048] Fig. 20 This is the seventeenth flow chart of the information tracing method provided in the embodiment of the present application;

[0049] Fig.21 It is a structural schematic diagram of the information tracing device provided in an embodiment of the present application;

[0050] Fig. 22 This is a schematic diagram of the first scenario structure of the information tracing device provided in the embodiment of the present application;

[0051] Fig.23 This is a schematic diagram of the second scenario structure of the information tracing device provided in the embodiment of the present application;

[0052] Fig.24 This is a schematic diagram of the third scenario structure of the information tracing device provided in the embodiment of the present application;

[0053] Fig.25 is a schematic structural diagram of a stator module provided in an embodiment of the present application;

[0054] Fig.26This is a schematic diagram of the fourth scenario structure of the information tracing device provided in the embodiment of the present application;

[0055] Fig. 27 This is a schematic diagram of the fifth scenario structure of the information tracing device provided in the embodiment of the present application;

[0056] Fig.28 is a second structural schematic diagram of the linear motor device provided in an embodiment of the present application;

[0057] Fig.29 is a third structural schematic diagram of the linear motor device provided in an embodiment of the present application;

[0058] Fig.30 It is a structural block diagram of the electronic device of the linear motor device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0060] In the description of the present application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood in specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are an "or" relationship.

[0061] In automated production systems, the widespread application of linear motor technology benefits from its advantages of high speed, high precision and flexible configuration. Typically, a linear motor device consists of multiple stator modules that are spliced ​​in sequence along the conveying direction to form a stator line, while the mover module moves along the stator line to achieve efficient transmission of items. Each mover module can be controlled independently, and different mover modules can perform different tasks at the same time, such as at least one of the loading, processing and unloading tasks. When the mover module is started, an identification information is randomly generated and set as the mover identification of the mover module, which is used to distinguish and identify each mover module and manage its related operation information for precise movement control.

[0062] Although linear motor equipment performs well in many aspects, there are still some shortcomings in the prior art. For example, after the mover module is assigned a mover identification, the mover identification assignment operation may still be triggered. For example, the linear motor equipment restarts, fails, the mover module monitoring fails, etc., which may trigger the mover identification assignment operation. Since the identification information is randomly generated, once the mover module is reassigned with identification information, it will not be possible to accurately associate the historical information of the mover module, resulting in the loss of the historical information of the mover module, which in turn affects the planning and control of the subsequent movement travel of the mover module. It is necessary to reconfigure or adjust the movement travel of the mover module through manual intervention, resulting in low transmission efficiency.

[0063] For example, Figure 1 As shown, the identification information "ID1" randomly generated for the first time is set as the mover identification of the mover module 1, and the relevant information of the mover module 1 is stored in the storage area corresponding to the identification information "ID1". Later, after the mover identification allocation operation is triggered, the identification information "ID2" randomly generated for the second time is set as the mover identification of the mover module 1, where "ID1" and "ID2" are different identification information. Since the mover identification of the mover module 1 has changed, the storage area of ​​the relevant information of the mover module 1 has changed, resulting in the inability to obtain the relevant information of the mover module 1 stored when the mover identification of the mover module 1 is "ID1". Even if the identification information "ID2" has been allocated to other mover modules, the relevant information stored when the mover identification of other mover modules is "ID2" may be used as the relevant information of the mover module 1, resulting in the acquisition of wrong mover module related information, thereby performing wrong movement control on the mover, resulting in transmission errors.

[0064] In order to ensure the accurate traceability of the historical information of the mover module, an embodiment of the present application provides an information tracing method for a linear motor device. By using a physical label to identify each mover module, the mover operation information of the mover module can be stored or obtained based on the unique and fixed label information corresponding to the physical label, thereby ensuring the traceability of the mover operation information, avoiding the information loss problem caused by randomly assigned identification information, and significantly improving the movement control efficiency of the mover module, thereby improving the transmission efficiency.

[0065] The information tracing method for the linear motor device provided by the present application is described in detail below in conjunction with specific embodiments.

[0066] See also Figure 2 , Figure 2 This is a first flow chart of the information tracing method for linear motor equipment provided by an embodiment of the present application. The method may include the following steps:

[0067] S101, obtaining label information corresponding to the physical label of the moving module.

[0068] In the embodiments of the present application, Figure 3 As shown, the linear motor device includes a stator line body 310 and a mover module 320; at least one operating device ( Figure 3 The moving submodule 320 is suitable for moving along the stator line 310 and passing through the operating equipment. The moving submodule 320 is provided with an identifiable physical tag 330, and the physical tag 330 carries unique and fixed tag information. The physical tag 330 can be identified by the tag identification module 340 to obtain the tag information it carries.

[0069] Specifically, the mover module is the movable part of the linear motor device, responsible for carrying objects and moving accurately along the stator line. The stator line is the fixed part of the linear motor device, composed of multiple stator modules spliced ​​and combined along the conveying direction. Both the mover module and the stator line have magnetic fields, and the interaction between the two magnetic fields can realize the linear motion of the mover module along the stator line.

[0070] Exemplarily, the stator module may include an excitation component, and the mover module may include a magnetic component. When the excitation component is energized, it will generate a magnetic field. As the magnitude and / or direction of the current changes, the magnetic field generated by the excitation component will change. The changing magnetic field interacts with the magnetic component in the mover module to generate a thrust acting on the mover module, thereby driving the mover module to move along the stator line. Among them, the excitation component may include a coil, and the magnetic component may include a permanent magnet or a magnet.

[0071] It can be understood that the above examples are schematic descriptions for the purpose of understanding. In actual operation, it can be determined according to specific circumstances whether the stator module or the mover module includes an excitation component, and whether the stator module or the mover module includes a magnetic component. The embodiments of the present application do not impose specific restrictions on this.

[0072] In a linear motor device, at least one operating device is distributed around the stator line body. The operating device is a production device that works in conjunction with the linear motor device in an automated production system and is used to perform various production operations, such as at least one of loading operations, processing operations, and unloading operations. Exemplarily, in automated production, after the mover module moves to the operating device, the operating device will operate the item according to the set process parameters. For example, when the mover module transfers an item to the processing equipment, the processing equipment will perform processing operations on the item. After the processing equipment completes the processing operation, the mover module continues to transfer the item to the next operating device.

[0073] It should be noted that the above examples are only for illustration, and in actual applications, the types of operating devices are not limited thereto.

[0074] In order to avoid the loss of historical information of the mover module and ensure the integrity of the historical information of the mover module, each mover module can be provided with an identifiable physical label. It can be understood that the physical label is a physical label that can be attached to the mover module. The physical label carries unique and fixed label information (such as a unique and fixed number).

[0075] By way of example, the physical tag may include a visual identification tag and / or an electronic identification tag.

[0076] The visual identification label is a physical label that can be identified by visual analysis technology. The visual identification label is composed of visual elements and can be formed on a blank label paper by printing, spraying, etc. For example, the visual elements may include: one or more combinations of graphics, patterns, and characters. Optionally, the visual identification label can be identified by an image acquisition unit.

[0077] An electronic identification tag is a physical tag that can be identified by electronic signal analysis technology, and may contain a chip, antenna or other electronic components for storing and transmitting information. An electronic identification tag can be identified by radio waves, magnetic fields, etc. Alternatively, an electronic identification tag can be identified by a wireless sensing unit and / or a wireless communication unit.

[0078] Optionally, the physical tag can be identified by a tag identification module, which is deployed along the stator line. When the moving module moves into the identification range of the tag identification module, the tag identification module can identify the tag information of the physical tag. It is understandable that in actual applications, the tag identification module may include one or more hardware of a wireless sensing unit, a wireless communication unit, and an image acquisition unit, depending on the type of the physical tag, and the embodiments of the present application do not impose specific restrictions on this.

[0079] S102, based on the tag information, storing or acquiring the mover operation information of the mover module.

[0080] Specifically, the physical tag on each mover module carries unique and fixed tag information. After identifying the physical tag of the mover module, the corresponding tag information can be obtained. Based on the uniqueness and fixity of the tag information, the consistency between storing the mover operation information of the mover module and obtaining the mover operation information of the mover module can be ensured, thereby effectively improving the traceability and integrity of the mover module information.

[0081] Exemplarily, assume that the tag information carried by the physical tag of a mover module is "Tag001". The tag information of the physical tag of the mover module is different from the tag information of the physical tags of other mover modules, and the tag information of the physical tag of the mover module will not change. Based on the tag information "Tag001" of the physical tag of the mover module, the mover operation information of the mover module is stored in the storage area corresponding to the tag information "Tag001". When the mover identification allocation operation is triggered, since the mover operation information of the mover module can be obtained through the tag information "Tag001" of the physical tag, it will not affect the acquisition of the mover operation information of the mover module, thereby avoiding the loss of historical information of the mover module, and further avoiding affecting the planning and control of the subsequent movement stroke of the mover module.

[0082] It is understandable that the mover operation information may include data generated during the operation of the mover module and data used to control the operation of the mover module. By storing or acquiring the mover operation information of the mover module, the operation of the mover module can be fully understood to ensure that it performs tasks efficiently and accurately.

[0083] In an embodiment of the present application, the process of storing or obtaining the mover operation information of the mover module based on the tag information of the physical tag can ensure the traceability of the mover operation information, avoid the information loss problem that may be caused by dynamic identification allocation, and significantly improve the mobile control efficiency of the mover module, thereby improving the transmission efficiency.

[0084] In specific implementation, the purpose of setting a mover identification for the mover module is to give the mover module an identity that is easy to distinguish and identify, so as to facilitate monitoring and management of different mover modules. The mover identification of the mover module can be generated and assigned randomly as described in the relevant part, or it can be determined by tag information, and specifically, it can include at least one of the following:

[0085] 1) Set the tag information as the mover identification of the mover module;

[0086] 2) Obtain designated identification information associated with the tag information of the mover module, and set the designated identification information as the mover identification of the mover module.

[0087] In the case where the mover identification initially set by the mover module is not determined by the label information, after the mover identification is set by the mover module, the mover identification of the mover module can be associated with the label information of the mover module by obtaining the mover identification of the mover module. Based on this, on the one hand, when the mover identification allocation operation is triggered, the identification information associated with the label information can still be reset to the mover identification of the mover module according to the physical label of the mover module, so that the mover identification of the mover module remains unchanged; on the other hand, when the mover identification allocation operation is triggered, the mover identification of the mover module can also be reset by random generation, and the reset mover identification of the mover module can be associated with the label information of the mover module, and the prior mover identification of the mover module can be determined through the association between the label information of the mover module and the prior mover identification, thereby improving the information traceability and integrity of the mover module.

[0088] In order to enable those skilled in the art to more clearly understand and implement the concept, implementation method and advantages of the embodiments of the present application, further detailed description will be given below with examples.

[0089] See also Figure 4 , Figure 4 This is a second flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0090] S201, obtaining label information corresponding to the physical label of the moving module.

[0091] It can be understood that the specific implementation of the above step S201 can refer to the description of the above related parts (such as the above step S101), which will not be repeated here.

[0092] S202, setting the tag information as the mover identification of the mover module.

[0093] In the embodiment of the present application, the mover identification uses the label information corresponding to the physical label of the mover module. This ensures that the mover identification of the mover module can maintain uniqueness and traceability throughout the production process, avoiding information loss or confusion that may be caused by dynamic identification allocation.

[0094] Exemplarily, assume that in an automated production line, each mover module is affixed with a physical label, and the physical label is encoded with unique identification information, namely, label information. When the mover identification allocation operation is triggered, the label recognition module obtains the label information "A123" of the mover module. After obtaining the label information "A123", the label information "A123" is set as the mover identification of the mover module. Thereafter, the mover identification "A123" will be used as the identity of the mover module for distinction and identification, so as to facilitate monitoring and management of the mover module. When the mover module moves to the next workstation, the mover operation information of the mover module can be quickly acquired or stored based on the mover identification "A123".

[0095] S203, based on the tag information, storing or acquiring the mover operation information of the mover module.

[0096] It is understandable that the execution order of the above steps S202 and S203 can be set according to actual conditions, and the two can be executed simultaneously or in a specified order. When executing steps S202 and S203 in sequence, storing or obtaining the mover operation information of the mover module based on the tag information can specifically include: storing or obtaining the mover operation information of the mover module based on the mover identification set by the tag information.

[0097] Therefore, based on the uniqueness and fixity of the label information, when the mover identification allocation operation is triggered, the label information can still be reset to the mover identification of the mover module according to the physical label of the mover module, so that the mover identification of the mover module remains unchanged and the amount of information related to the mover module can be reduced.

[0098] See also Figure 5 , Figure 5 : is a third flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application, and the method may include the following steps:

[0099] S301, obtaining label information corresponding to the physical label of the moving module.

[0100] It can be understood that the specific implementation of the above step S301 can refer to the description of the above related parts (such as the above step S101), which will not be repeated here.

[0101] S302, obtaining designated identification information associated with the tag information of the mover module, and setting the designated identification information as the mover identification of the mover module.

[0102] Specifically, the specified identification information associated with the tag information can be queried from a predefined mapping table or database. Then, the queried specified identification information is set as the mover identification of the mover module. The specified identification information can be predefined according to specific production requirements, management policies or business logic. The specified identification information can contain more associated information, such as batch number, priority, task type, etc., to facilitate the management of the mover module in the subsequent production process.

[0103] Exemplarily, assume that on an automated production line, each mover module is affixed with a physical label, and the physical label is encoded with unique identification information, namely, label information. The production system needs to manage the mover module according to the batch number, predefine the mover identification containing the batch number information, and associate it with the label information of the physical label respectively to obtain an identification mapping table. When the mover identification allocation operation is triggered, the label recognition module obtains the label information "A456" of the mover module. After obtaining the label information "A456", the identification mapping table is queried to determine that the designated identification information associated with "A456" is "Batch2024-A456", which contains the production batch "Batch2024". "Batch2024-A456" is set as the mover identification of the mover module. Thereafter, the mover identification "Batch2024-A456" will be used as the identity of the mover module for distinction and identification, so as to facilitate monitoring and management of the mover module. When the mover module moves to the next workstation, the mover operation information of the mover module can be quickly acquired or stored based on the mover identification "Batch2024-A456".

[0104] S303, based on the tag information, storing or acquiring the mover operation information of the mover module.

[0105] It is understandable that the execution order of the above steps S302 and S303 can be set according to actual conditions, and the two can be executed simultaneously or in a specified order. When executing steps S302 and S303 in sequence, storing or obtaining the mover operation information of the mover module based on the tag information can specifically include: storing or obtaining the mover operation information of the mover module based on the mover identification set based on the specified identification information associated with the tag information.

[0106] Therefore, based on the uniqueness and fixity of the label information, when the mover identification allocation operation is triggered, the specified identification information associated with the label information can still be reset to the mover identification of the mover module according to the physical label of the mover module, so that the mover identification of the mover module remains unchanged. In addition, by modifying the specified identification information associated with the label information, the naming format of the mover identification can be adjusted without adjusting the physical label, and the format modification of the mover identification is more convenient.

[0107] See also Figure 6 , Figure 6 This is a fourth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0108] S401, obtaining label information corresponding to the physical label of the moving module.

[0109] It can be understood that the specific implementation of the above step S401 can refer to the description of the above related parts (such as the above step S101), which will not be repeated here.

[0110] S402, obtaining a mover identification of the mover module, and associating the mover identification of the mover module with label information of the mover module.

[0111] In an embodiment of the present application, if the mover module sets the mover identification for the first time, the mover identification can be randomly assigned to the mover module. Then, the mover identification assigned to the mover module is obtained, and the mover identification assigned to the mover module is associated with the label information of the physical label of the mover module; if the mover identification is not set for the first time for the mover module, the mover identification can be randomly assigned to the mover module again, and the prior mover identification of the mover module can be determined through the association between the label information of the mover module and the prior mover identification, or the identification information associated with the label information can be reset to the mover identification of the mover module according to the physical label of the mover module. In this way, the mover identification can be used to distinguish and identify the mover module, and the label information ensures the traceability and integrity of the mover module.

[0112] Exemplarily, assume that in an automated production line, each mover module is affixed with a physical label, and the physical label is encoded with unique identification information, namely, label information. When the mover identification assignment operation is triggered, the label recognition module obtains the label information "A789" of the mover module, and randomly assigns the mover identification "ID_987" to the mover module. Among them, the mover identification "ID_987" can be used to distinguish and identify the mover module, while the label information "A789" ensures the traceability and integrity of the mover module. After obtaining the label information "A789" and the mover identification "ID_987", the mover identification "ID_987" is associated with the physical label "A789" of the mover module. When the mover module moves to the next station, the associated mover identification "ID_987" can be determined based on the label information "A789", so as to quickly obtain or store the mover operation information of the mover module.

[0113] S403, based on the tag information, storing or acquiring the mover operation information of the mover module.

[0114] It is understandable that the execution order of the above steps S402 and S403 can be set according to the actual situation, and the two can be executed synchronously or in a specified order. When executing steps S402 and S403 in sequence, storing or obtaining the mover operation information of the mover module based on the tag information may specifically include at least one of the following: storing or obtaining the mover operation information of the mover module based on the mover identification set by the identification information associated with the tag information; storing or obtaining the corresponding mover operation information when the mover module is set with different mover identifications based on the identification information associated with the tag information.

[0115] In some embodiments, based on the label information, the mover operation information of the mover module is stored or obtained, and it is necessary to determine the storage area corresponding to the mover module based on the label information. The storage area is a logical area or database area for storing the relevant information of the mover module (such as the mover operation information). The relevant information of each mover module will be stored in the corresponding storage area, and the storage area can be associated with the mover module through label information or mover identification. Optionally, according to the actual storage method, the storage area can be understood as an area obtained by dividing the address bit in the logical space, or the storage area can be an area specified in the database through a path.

[0116] It is understandable that, because the tag information is unique and fixed, determining the storage area corresponding to the mover module through the tag information can ensure the access consistency of the mover operation information of the mover module and avoid information confusion, loss or access errors.

[0117] In a specific implementation, the above-mentioned storing or obtaining the mover operation information of the mover module based on the tag information includes at least one of the following:

[0118] 1) Based on the tag information, determine the corresponding storage area, and store or obtain the mover operation information of the mover module;

[0119] 2) Based on the tag information, determine the associated designated identification information, and based on the storage area corresponding to the designated identification information, store or obtain the mover operation information of the mover module;

[0120] 3) Based on the tag information, determine the associated mover identification, and based on the storage area and tag information corresponding to the mover identification, store or obtain the mover operation information of the mover module.

[0121] In order to enable those skilled in the art to more clearly understand and implement the concept, implementation method and advantages of the embodiments of the present application, further detailed description will be given below with examples.

[0122] See also Figure 7 , Figure 7 This is a fifth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0123] S501, obtaining label information corresponding to the physical label of the moving submodule.

[0124] It can be understood that the specific implementation of the above step S501 can refer to the description of the above related parts (such as the above step S101), which will not be repeated here.

[0125] S502, based on the tag information, determine the corresponding storage area, and store or obtain the mover operation information of the mover module.

[0126] In an embodiment of the present application, the physical label of each mover module carries unique and fixed label information, and the label information of the mover module corresponds one-to-one to the storage area, indicating that each mover module corresponds to a storage area. Using this storage area to store or obtain the mover operation information of the mover module can avoid confusion with data from other mover modules, ensure the traceability and integrity of the mover operation information, and improve information storage efficiency.

[0127] Exemplarily, assume that in an automated production line, each mover module is affixed with a physical label, on which unique identification information, namely, label information, is encoded. When the mover identification allocation operation is triggered, the label recognition module obtains the label information "B123" of the mover module. After obtaining the label information "B123", the corresponding storage area can be found based on the label information "B123", such as a directory / data / B123 / in the file system. In subsequent operations, the mover operation information of the mover module can be stored in the directory / data / B123 / ; the mover operation information of the mover module can also be read from the directory / data / B123 / .

[0128] In this way, since the tag information is unique and fixed, the storage area determined by the tag information is also unique and fixed. The above solution can be used to quickly determine the storage area, thereby achieving rapid access to the mover operation information of the mover module and improving information access efficiency.

[0129] See also Figure 8 , Figure 8 This is a sixth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0130] S601, obtaining label information corresponding to the physical label of the moving submodule.

[0131] It can be understood that the specific implementation of the above step S601 can refer to the description of the above related parts (such as the above step S101), which will not be repeated here.

[0132] S602, based on the tag information, determine the associated designated identification information, and based on the storage area corresponding to the designated identification information, store or obtain the mover operation information of the mover module.

[0133] In the embodiment of the present application, the association relationship between the tag information and the designated identification information can be established in advance, and the designated identification information corresponds to the storage area. The designated identification information associated with different tag information corresponds to different storage areas. When storing or obtaining the mover operation information of the mover module, the storage area can be determined according to the designated identification information associated with the tag information. Using this storage area to store or obtain the mover operation information of the mover module can avoid confusion with the data of other mover modules and ensure the traceability and integrity of the mover operation information. In addition, by modifying the association relationship between the tag information and the designated identification information, the storage area corresponding to the mover module can be adjusted to improve the adjustment efficiency of the storage area.

[0134] For example, suppose that on an automated production line, each mover module is affixed with a physical label, and the physical label is encoded with unique identification information, namely, label information. The automated production line needs to manage the mover module according to the product category, predefine the specified identification information containing the product category information, and associate it with the label information of the physical label respectively to obtain an identification mapping table. When the mover identification allocation operation is triggered, the label recognition module obtains the label information "B456" of the mover module. After obtaining the label information "B456", the above-mentioned identification mapping table is queried to determine that the specified identification information associated with "B456" is "TypeAA-B456", and the specified identification information contains the product category "TypeAA". The corresponding storage area is determined according to the specified identification information "TypeAA-B456". In subsequent operations, the mover operation information of the mover module can be stored in the storage area corresponding to "TypeAA-B456"; or the mover operation information of the mover module can be read from the storage area.

[0135] Optionally, one piece of tag information may be associated with one piece of specified identification information, or may be associated with multiple pieces of specified identification information.

[0136] Exemplarily, one tag information is associated with two specified identification information, such as first specified identification information and second specified identification information, wherein, in a first production scenario, the first specified identification information associated with the tag information is set as the mover identification, and in a second production scenario, the second specified identification information associated with the tag information is set as the mover identification, thereby characterizing that the mover module is in different production scenarios. Although the mover identifications set in the two production scenarios are different, the tag information of the mover module is unique and fixed. By determining the associated first specified identification information and second specified identification information based on the tag information, all storage areas used to store information related to the mover module can be determined, thereby ensuring the traceability and integrity of the mover module.

[0137] See also Fig. 9 , Fig. 9 This is a seventh flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0138] S701, obtaining label information corresponding to the physical label of the mover module.

[0139] It can be understood that the specific implementation of the above step S701 can refer to the description of the above related parts (such as the above step S101), which will not be repeated here.

[0140] S702, based on the tag information, determine the associated mover identification, and based on the storage area corresponding to the mover identification and the tag information, store or obtain the mover operation information of the mover module.

[0141] In an embodiment of the present application, when the mover identification allocation operation is triggered, a mover identification is randomly allocated to the mover module, and an association is established between the mover identification randomly allocated to the mover module and the label information of the physical label of the mover module. The mover identification of the mover module can be determined through the association between the label information of the mover module and the mover identification. The mover identification corresponds to a storage area, and different mover identifications correspond to different storage areas. When storing or acquiring the mover operation information of the mover module, the storage area can be determined according to the mover identification. In the storage area, the mover operation information of the mover module is stored or acquired based on the label information corresponding to the mover module. Because the label information is unique and fixed, the access consistency of the mover operation information of the mover module can be ensured to avoid information confusion, loss, or access errors.

[0142] In a specific implementation, the storage area corresponding to the mover identification may not only be limited to storing the mover operation information of a mover module, but may also store other information, for example, it may also store the operation information of the stator line body. For another example, a tag information may be associated with different mover identifications in different situations, and a mover identification may also be associated with different tag information in different situations, that is, the storage area corresponding to a mover identification may store the mover operation information corresponding to multiple mover modules. Based on this, the mover operation information corresponding to different mover modules can be distinguished by the tag information they have, which can avoid confusion with the data of other mover modules and ensure the traceability and integrity of the mover operation information.

[0143] For example, Fig.10 As shown, it is assumed that in an automated production line, each mover module is affixed with a physical label, and the physical label is encoded with unique identification information, namely, label information. When mover module 2 triggers the mover identification allocation operation, the label recognition module obtains the label information "RFID_01" of the mover module. When mover module 2 triggers the mover identification allocation operation for the first time, the mover identification "ID_1" is randomly assigned; when mover module 2 triggers the mover identification allocation operation again, the mover identification "ID_2" is randomly assigned. Although the mover identifications assigned by mover module 2 are different when the mover identification allocation operation is triggered twice, the label information "RFID_01" of the mover module is unique and fixed.

[0144] Based on the tag information "RFID_01", the associated mover identifications including "ID_1" and "ID_2" can be queried. The mover identification "ID_1" is the mover identification assigned to the mover module when it last worked, and the mover identification "ID_2" is the mover identification currently assigned to the mover module. According to the mover identification "ID_1", the corresponding storage area FA can be determined; according to the mover identification "ID_2", the corresponding storage area FB can be determined. When storing the mover operation information of the mover module 2, it can be stored in the storage area FB corresponding to the mover identification "ID_2", and the mover module to which the mover operation information belongs can be further marked in the stored file or data record using the tag information "RFID_01". When obtaining the mover operation information of the mover module 2, the mover operation information related to the tag information "RFID_01" can be searched in the storage area FA corresponding to the mover identification "ID_1" and the storage area FB corresponding to the mover identification "ID_2". In this way, it can be ensured that even if multiple mover modules use the same mover identification at different times (such as Fig.10 In the example, the storage area corresponding to the mover identification "ID_1" also stores the mover operation information related to the tag information "RFID_02"). The unique and fixed tag information can also be used to avoid confusion with the data of other mover modules, thereby ensuring the traceability and integrity of the mover operation information.

[0145] In some embodiments, when storing or acquiring the operation information of the mover module based on the storage area and label information corresponding to the mover identification, an index method for the mover operation information can be constructed through the label information, so as to quickly access the mover operation information of the mover module in the storage area. In addition, when the number of mover modules increases, it is beneficial to improve the efficiency of information management.

[0146] In a specific implementation, storing or acquiring the mover operation information of the mover module based on the storage area and label information corresponding to the mover identification includes at least one of the following:

[0147] 1) Using the tag information as the index number of the mover operation information to store the mover operation information in the storage area corresponding to the mover identification;

[0148] 2) Based on the tag information, search in the storage area corresponding to the mover identification to obtain the mover operation information.

[0149] Therefore, the tag information is used as the key field for accessing the mover operation information. Since the tag information is fixed and unique, even if other information is stored in the storage area corresponding to the mover identification, the tag information can be used as a search basis to ensure the accuracy and traceability of the information.

[0150] Exemplarily, assume that the tag information of a certain mover module 3 is "RFID_001", and the currently randomly assigned mover identification is "ID_110". The tag information "RFID_001" can be used as the index number of the mover operation information, and its mover operation information is stored in the storage area corresponding to the mover identification "ID_110". The tag information, as a fixed index number, can uniquely identify the relevant information of the mover module 3. When it is necessary to obtain the mover operation information of the mover module 3, the corresponding mover operation information can be found by quickly searching in the storage area of ​​"ID_110" based on the tag information "RFID_001". Even if the mover identification "ID_110" has been assigned to other mover modules, and the storage area corresponding to the mover identification "ID_110" stores information related to other mover modules, the mover operation information of the mover module 3 can be accurately obtained by using the tag information "RFID_001" as the search basis.

[0151] In some embodiments, as described above, the mover identification (specifically, it can be specified identification information or randomly generated identification information) can correspond to a storage area. When the mover identification allocation operation is triggered, the storage status information corresponding to multiple candidate identification information can be first obtained. By evaluating the storage status information corresponding to these candidate identification information, the candidate identification information assigned to the mover module as the mover identification is determined. In this way, the storage resource allocation can be optimized and the information access efficiency can be improved.

[0152] In a specific implementation, the above-mentioned obtaining the mover identification of the mover module may include:

[0153] When the mover identification allocation operation is triggered, storage status information corresponding to a plurality of candidate identification information is obtained, and the candidate identification information whose storage status information meets the selection condition is set as the mover identification of the mover module.

[0154] Specifically, when performing the mover identification allocation operation, you can first randomly generate multiple candidate identification information, or obtain multiple candidate identification information from a candidate identification pool. Each candidate identification information corresponds to a different storage area, and the storage status information can be determined according to the storage area corresponding to each candidate identification information. Specifically, the storage status information can be determined according to the capacity of the storage area, the usage status, the usage duration and other dimensions. Then, the storage status of each candidate identification will be evaluated according to the preset selection conditions. Among them, the preset selection conditions can be set according to the specific implementation scenario. After selecting the candidate identification information that meets the selection conditions, it is set as the mover identification of the mover module. Optionally, the mover identification can be associated with the label information of the mover module for subsequent operations.

[0155] In some embodiments, during the mover identification assignment process, the most suitable candidate identification information is selected by evaluating the storage status information of the candidate identification information, and the candidate identification information whose storage status information meets the selection condition is set as the mover identification of the mover module, including any of the following:

[0156] 1) Among the storage status information corresponding to the plurality of candidate identification information, a candidate identification information whose free storage capacity indicated by the storage status information exceeds a preset capacity threshold is selected and set as the mover identification of the mover module;

[0157] 2) Among the storage status information corresponding to the multiple candidate identification information, a candidate identification information having the largest free storage capacity indicated by the storage status information is selected and set as the mover identification of the mover module.

[0158] Specifically, candidate identification information whose free storage capacity exceeds the preset capacity threshold is selected as the mover identification of the mover module. The method first sets a preset capacity threshold, which is a baseline for judging whether the storage space is sufficient. The preset capacity threshold can be set based on the specific implementation scenario and is not limited here. By checking the storage status information corresponding to all candidate identification information and selecting candidate identification information whose free storage capacity exceeds the preset capacity threshold, it is ensured that the storage area corresponding to the allocated mover identification has sufficient available capacity to ensure that the subsequent mover operation information can be stored normally.

[0159] The candidate identification information with the largest free storage capacity is selected as the mover identification of the mover module. The method selects the identification with the largest free storage capacity by checking the storage state information corresponding to all candidate identification information to ensure that the storage area allocated to the mover module has as much available space as possible.

[0160] It should be noted that when there are multiple candidate identification information whose free storage capacity exceeds the preset capacity threshold, one of the candidate identification information can be randomly selected as the mover identification of the mover module, or the candidate identification information with the largest free storage capacity can be selected as the mover identification of the mover module. If there are multiple candidate identification information whose corresponding free storage capacity is the largest and the same, one of the candidate identification information can be randomly selected as the mover identification of the mover module.

[0161] For example, the system needs to assign a new mover ID to a mover module. Currently, there are three candidate ID information "ID_2001", "ID_2002" and "ID_2003". Their respective storage status information is as follows:

[0162] ID_2001: The free storage capacity is 512MB.

[0163] ID_2002: The free storage capacity is 180MB.

[0164] ID_2003: The free storage capacity is 480MB.

[0165] If the preset selection condition is: select candidate identification information with free storage capacity exceeding 200MB.

[0166] Then ID_2001 (512MB) and ID_2003 (480MB) meet the conditions, while ID_2002 (180MB) does not meet the conditions. You can select any one of the identifiers that meet the conditions, for example, select ID_2001 as the mover identifier.

[0167] If the preset selection condition is: select the candidate identification information with the largest free storage capacity.

[0168] ID_2001 (512MB) has the largest free storage capacity and meets the condition, while ID_2002 (180MB) and ID_2003 (480MB) do not meet the condition. Select ID_2001 as the mover ID.

[0169] In some embodiments, the above-mentioned free storage capacity includes storage capacity in which no information is stored and / or storage capacity in which information has been stored for longer than a preset time period.

[0170] Specifically, the storage capacity without stored information refers to the actual available storage space that is not currently occupied by any data, which is the most direct "free storage capacity". The storage capacity with information stored for more than a preset period of time refers to the data in a storage area that has been stored for more than a certain preset period of time (such as 3 months or 1 year). These data can be considered as "old data", and the area can be regarded as overwriteable storage space, so that it can be reused as an extended "free storage capacity".

[0171] In the embodiments of the present application, the free storage capacity does not only refer to the storage capacity that is not currently occupied, but also includes the storage capacity where the information has been stored for more than a preset time. In this way, the storage resources can be managed flexibly to avoid the storage area being occupied by old data, while improving the efficiency of the storage space. Among them, the preset time can be set according to the specific implementation scenario and is not limited here.

[0172] As mentioned above, the mover operation information may include data generated during the operation of the mover module and data used to control the operation of the mover module. In some embodiments, the mover operation information may include mover operating data and / or mover control parameters; the mover operating data includes state data used to characterize the motion state of the mover module and operation history data used to characterize the operation equipment experienced by the mover module; the mover control parameters are used to control the movement of the mover module.

[0173] Specifically, the mover condition data is used to describe the current state of the mover module and the historical task execution status, ensuring that the operation process of each mover module is fully recorded and monitored. The mover condition data may include state data used to characterize the motion state of the mover module, such as the current position, speed, acceleration, etc. of the motion module; the mover condition data may also include operation history data used to characterize the operating equipment that the mover module has experienced, such as the mover module passing through the welding station and completing the welding task.

[0174] The mover control parameters are specific settings and instructions for controlling the movement of the mover module. The mover control parameters define the movement trajectory, speed, acceleration, etc. of the mover module to ensure that the mover module completes the task according to the set requirements. For example, the control parameters set for the mover module may include: the target position, target speed, target acceleration, maximum speed, maximum acceleration, etc. of the mover module.

[0175] In some embodiments, the mover control parameters can be dynamically adjusted by acquiring the mover operating data of the mover module in real time, thereby adjusting the motion state of the mover module to ensure that the mover module can automatically optimize its motion trajectory and control parameters according to the actual operating state during operation to achieve the best working effect.

[0176] For specific implementation, see Fig.11 , Fig.11 This is an eighth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0177] S801, obtaining label information corresponding to the physical label of the moving submodule.

[0178] It can be understood that the specific implementation of the above step S801 can refer to the description of the above related parts (such as the above step S101), which will not be repeated here.

[0179] S802, based on the tag information, store or obtain the mover operation information of the mover module.

[0180] It can be understood that the specific implementation of the above step S802 can refer to the description of the above related parts (such as the above steps S102, S502, S602 and S702), which will not be repeated here.

[0181] Among them, the mover operation information of the mover module includes mover operating condition data and / or mover control parameters; the mover operating condition data includes state data used to characterize the motion state of the mover module and operation history data used to characterize the operation equipment experienced by the mover module; the mover control parameters are used to control the movement of the mover module.

[0182] S803, adjusting the mover control parameters according to the mover operating condition data in the mover operation information of the mover module, so as to adjust the motion state of the mover module.

[0183] Specifically, the mover condition data provides the current status and historical task execution of the mover module, which reflects the actual working conditions of the mover module on the production line. According to the acquired mover condition data, the mover control parameters of the mover module can be automatically adjusted to form a closed-loop control mechanism. The mover control parameters are specific settings and instructions for controlling the movement of the mover module, which determine the target position, target speed, target acceleration, etc. of the mover module. Adjusting the mover control parameters can change the movement state of the mover module to correct deviations or optimize operations.

[0184] For example, according to the mover working condition data, it is detected that the speed of the mover module is too low. The mover control parameters can be adjusted to increase the speed setting value to ensure that the mover module can complete the moving task as planned.

[0185] By adjusting the mover control parameters, the motion state of the mover module will change, and new mover working condition data will be obtained. Then the new mover working condition data will be monitored to continue to determine whether the mover control parameters need to be adjusted. This dynamic adjustment process ensures that the motion state of the mover module is consistent with the predetermined requirements and ensures that it can complete the task efficiently. Among them, the specific adjustment control rules are set according to the specific implementation scenario and are not limited here.

[0186] In some embodiments, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. Based on this, the mover module whose tag information is currently obtained can be determined through the position information, so as to bind the mover module with the tag information to ensure that the tag information accurately corresponds to the mover module.

[0187] For specific implementation, see Fig.12 , Fig.12 This is a ninth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0188] S901, obtaining label information corresponding to the physical label of the moving submodule.

[0189] It can be understood that the specific implementation of the above step S901 can refer to the description of the above related parts (such as the above step S101), which will not be repeated here.

[0190] S902: Based on the position information of the moving sub-module, the acquired tag information is bound to the corresponding moving sub-module.

[0191] Specifically, when the label information corresponding to the physical label of the mover module is obtained, the position information of the mover module is also collected. The position information can be obtained through the sensor, indicating the current position of the mover module. In this way, the mover module can be tracked in real time through the position information. When the label information of the mover module is obtained, the mover module of the obtained label information can be determined according to the position information of the mover module, and bound to the obtained label information. Through this binding, it can be ensured that the label information corresponds to the correct mover module.

[0192] S903, based on the tag information, store or obtain the mover operation information of the mover module.

[0193] It can be understood that the specific implementation of the above step S902 can refer to the description of the above related parts (such as the above steps S101, S502, S602 and S702), which will not be repeated here.

[0194] In an embodiment of the present application, by using a physical label to identify each mover module, the mover operation information of the mover module can be stored or obtained based on the unique and fixed label information corresponding to the physical label, thereby ensuring the traceability of the mover operation information, avoiding the information loss problem caused by randomly assigned identification information, and significantly improving the movement control efficiency of the mover module, thereby improving the transmission efficiency.

[0195] In some embodiments, the linear motor device includes a mobile control device, a stator line body and a mover module; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, and the mover module is provided with an identifiable physical tag, and the physical tag carries unique and fixed tag information. Among them, the physical tag can be identified by the tag identification module to obtain the tag information it carries. The mobile control device is connected to the host computer device.

[0196] Specifically, the mobile control device is the control unit in the linear motor device, which is responsible for controlling the movement of the mover module and managing the movement stroke, ensuring that the mover module cooperates with the operating device during the movement along the stator line. The mobile control device can independently complete the basic motion control and device interaction tasks of the mover module, ensuring real-time performance and response speed.

[0197] The host device is the management and monitoring platform of the entire automated production system. It is located at a higher management level and is responsible for communicating and coordinating multiple mobile control devices. The host device can centrally control and manage data for multiple mover modules, mobile control devices and other equipment. The host device can perform global task allocation for the entire production line. It can assign different tasks to each mover module according to production plans and needs, and execute these tasks through mobile control devices to ensure that tasks between different devices do not conflict and avoid waste of resources. The host device can be a PC (Personal Computer) or a PLC (Programmable Logic Controller).

[0198] In a specific implementation, an embodiment of the present application provides an information tracing method for a linear motor device, which is specifically applied to a mobile control device. The method may include the following steps:

[0199] S1001, the mobile control device obtains label information corresponding to the physical label of the moving submodule.

[0200] Specifically, unlike the randomly generated identification information in the related art, the tag information carried by the physical tag is unique and fixed. The tag information of the moving submodule can be identified by the tag identification module. The mobile control device can obtain the tag information of the moving submodule by communicating with the tag identification module. The tag identification module can also communicate with the host device, and the mobile control device receives the tag information of the moving submodule transmitted by the host device.

[0201] S1002: The mobile control device stores or obtains the mover operation information of the mover module based on the tag information.

[0202] Specifically, the mobile control device accesses the storage area associated with the mover module according to the acquired tag information, and stores or obtains the mover operation information of the mover module. The mover operation information may include mover operating condition data and / or mover control parameters. Due to the uniqueness and fixity of the tag information, the mobile control device stores or obtains the mover operation information of the mover module based on the tag information, ensures the traceability of the mover operation information, avoids the problem of information loss caused by randomly assigned identification information, and significantly improves the mobile control efficiency of the mover module, thereby improving the transmission efficiency.

[0203] In some embodiments, the specific implementation of the above step S1002 can refer to the description of the above related parts (such as the above steps S101, S502, S602 and S702), which will not be repeated here.

[0204] In some embodiments, after the mobile control device acquires the tag information corresponding to the physical tag of the mover module, the method further includes: the mobile control device binds the acquired tag information to the corresponding mover module based on the position information of the mover module.

[0205] The mobile control device stores or obtains the mover operation information of the mover module based on the tag information, including at least one of the following:

[0206] 1) The mobile control device locally stores or obtains the mover operation information of the mover module based on the tag information;

[0207] 2) The mobile control device sends the binding relationship between the tag information and the mover module to the host computer device, so that the host computer device stores or obtains the mover operation information of the mover module.

[0208] In order to enable those skilled in the art to more clearly understand and implement the concept, implementation method and advantages of the embodiments of the present application, further detailed description will be given below with examples.

[0209] The information tracing method of the linear motor device provided in the embodiment of the present application may include the following steps:

[0210] S1101, the mobile control device obtains label information corresponding to the physical label of the moving submodule.

[0211] Specifically, the tag information of the moving submodule can be identified by the tag identification module. The mobile control device can obtain the tag information of the moving submodule by communicating with the tag identification module. The tag identification module can also communicate with the host device, and the mobile control device receives the tag information of the moving submodule transmitted by the host device. That is, the tag information comes from the tag identification module connected to the mobile control device, or the tag information comes from the host device.

[0212] S1102, the mobile control device binds the acquired tag information to the corresponding moving sub-module based on the position information of the moving sub-module.

[0213] Specifically, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. When the mobile control device obtains the tag information of the mover module, it also obtains the position information of the mover module. The position information of the mover module can be obtained by the position measurement module connected to the mobile control device. In this way, the mobile control device can track the mover module in real time through the position information. When the tag information of the mover module is obtained, the mover module whose tag information is obtained can be determined according to the position information of the mover module, and bound to the obtained tag information. Through this binding, it can be ensured that the tag information corresponds to the correct mover module.

[0214] S1103, the mobile control device locally stores or obtains the mover operation information of the mover module based on the tag information.

[0215] Specifically, after the mobile control device binds the mover module and the tag information, the mobile control device can use the bound tag information to store or obtain the mover operation information related to the mover module. The mobile control device can store the mover operation information of the mover module in the local storage unit of the mobile control device, or obtain the mover operation information from the local storage unit of the mobile control device when necessary, for subsequent control operations. The local storage unit of the mobile control device is a storage unit controlled by the mobile control device, and can be controlled by the mobile control device to store or read data. In an embodiment of the present application, the mobile control device is not only responsible for binding the acquired tag information to the mover module, but also responsible for the storage and acquisition of the mover operation information.

[0216] See also Fig.13 , Fig.13 This is a tenth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0217] S1201, the mobile control device obtains label information corresponding to the physical label of the moving submodule.

[0218] Specifically, the tag information of the moving submodule can be identified by the tag identification module. The mobile control device can obtain the tag information of the moving submodule by communicating with the tag identification module. The tag identification module can also communicate with the host device, and the mobile control device receives the tag information of the moving submodule transmitted by the host device. That is, the tag information comes from the tag identification module connected to the mobile control device, or the tag information comes from the host device.

[0219] S1202: The mobile control device binds the acquired tag information to the corresponding moving sub-module based on the position information of the moving sub-module.

[0220] Specifically, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. When the mobile control device obtains the tag information of the mover module, it also obtains the position information of the mover module. The position information of the mover module can be obtained by the position measurement module connected to the mobile control device. In this way, the mobile control device can track the mover module in real time through the position information. When the tag information of the mover module is obtained, the mover module whose tag information is obtained can be determined according to the position information of the mover module, and bound to the obtained tag information. Through this binding, it can be ensured that the tag information corresponds to the correct mover module.

[0221] S1203, the mobile control device sends the binding relationship between the tag information and the moving submodule to the upper computer device.

[0222] S1204, the host computer device stores or obtains the mover operation information of the mover module.

[0223] Specifically, after the host device receives the binding relationship from the mobile control device, it will store the binding relationship. The host device can use the tag information in the binding relationship to store or obtain the mover operation information related to the corresponding mover module. The host device can store the mover operation information of the mover module in the storage unit of the host device, or obtain the mover operation information from the storage unit of the host device when necessary for subsequent control operations. Among them, the storage unit of the host device is a storage unit controlled by the host device, and the host device can control the storage or reading of data. In an embodiment of the present application, the mobile control device is responsible for binding the acquired tag information with the mover module, and the host device is responsible for the storage and acquisition of the mover operation information.

[0224] In some embodiments, after the mobile control device obtains the tag information corresponding to the physical tag of the moving sub-module, it also includes: the mobile control device sends the obtained tag information to the host computer device, so that the host computer device binds the tag information to the corresponding moving sub-module based on the position information of the moving sub-module.

[0225] The mobile control device stores or obtains the mover operation information of the mover module based on the tag information, including at least one of the following:

[0226] 1) The mobile control device sends the tag information and the mover operation information of the mover module to the upper computer device, so that the upper computer device stores the mover operation information of the mover module;

[0227] 2) The mobile control device sends the tag information to the upper computer device so that the upper computer device obtains the mover operation information of the mover module;

[0228] 3) The mobile control device locally stores or obtains the mover operation information of the mover module based on the tag information and the binding relationship between the tag information and the mover module determined by the host device.

[0229] In order to enable those skilled in the art to more clearly understand and implement the concept, implementation method and advantages of the embodiments of the present application, further detailed description will be given below with examples.

[0230] See also Fig.14 , Fig.14 This is an eleventh flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0231] S1301, the mobile control device obtains label information corresponding to the physical label of the moving submodule.

[0232] Specifically, the tag information of the moving submodule can be obtained by identifying the tag identification module. The mobile control device can obtain the tag information of the moving submodule by communicating with the tag identification module.

[0233] S1302, the mobile control device sends the acquired tag information to the upper computer device.

[0234] S1303: The host computer device binds the tag information to the corresponding mover module based on the position information of the mover module.

[0235] Specifically, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. When the host computer device obtains the tag information of the mover module, it also obtains the position information of the mover module. The position information of the mover module can be obtained by a position measurement module connected to the host computer device, or, after being obtained by a position measurement module connected to a mobile control device, it is sent to the host computer device via the mobile control device. In this way, the host computer device can track the mover module in real time through the position information. When the tag information of the mover module is obtained, the mover module whose tag information is obtained can be determined according to the position information of the mover module, and bound to the obtained tag information. Through this binding, it can be ensured that the tag information corresponds to the correct mover module.

[0236] S1304, the mobile control device sends the tag information and the mover operation information of the mover module to the upper computer device.

[0237] S1305, the host computer device stores the mover operation information of the mover module.

[0238] Specifically, when it is necessary to store the mover operation information of the mover module, the mobile control device sends the tag information and mover operation information of the mover module to the host computer device, and the mover operation information is stored by the host computer device. Based on the tag information, the host computer device can determine the binding relationship between the tag information and the mover module, so as to accurately store the mover operation information of the mover module in the storage unit of the host computer device, and avoid the loss and confusion of the mover operation information. Among them, the storage unit of the host computer device is a storage unit controlled by the host computer device, and the storage or reading of data can be controlled by the host computer device. In an embodiment of the present application, the host computer device is not only responsible for binding the acquired tag information with the mover module, but also responsible for the storage of the mover operation information.

[0239] See also Fig.15 , Fig.15This is a twelfth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0240] S1401, the mobile control device obtains label information corresponding to the physical label of the moving submodule.

[0241] Specifically, the tag information of the moving submodule can be obtained by identifying the tag identification module. The mobile control device can obtain the tag information of the moving submodule by communicating with the tag identification module.

[0242] S1402, the mobile control device sends the acquired tag information to the upper computer device.

[0243] S1403, the host computer device binds the tag information to the corresponding mover module based on the position information of the mover module.

[0244] Specifically, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. When the host computer device obtains the tag information of the mover module, it also obtains the position information of the mover module. The position information of the mover module can be obtained by a position measurement module connected to the host computer device, or, after being obtained by a position measurement module connected to a mobile control device, it is sent to the host computer device via the mobile control device. In this way, the host computer device can track the mover module in real time through the position information. When the tag information of the mover module is obtained, the mover module whose tag information is obtained can be determined according to the position information of the mover module, and bound to the obtained tag information. Through this binding, it can be ensured that the tag information corresponds to the correct mover module.

[0245] S1404, the mobile control device sends the tag information to the upper computer device.

[0246] S1405, the host computer device obtains the mover operation information of the mover module.

[0247] Specifically, when it is necessary to obtain the mover operation information of the mover module, the mobile control device sends the tag information of the mover module to the host computer device, and obtains the mover operation information of the mover module through the host computer device. Based on the tag information, the host computer device can determine the binding relationship between the tag information and the mover module, so as to accurately obtain the mover operation information of the mover module in the local storage unit of the host computer device, and avoid the loss and confusion of the mover operation information. Among them, the local storage unit of the host computer device is a storage unit controlled by the host computer device, and the host computer device can control the storage or reading of data. In an embodiment of the present application, the host computer device is not only responsible for binding the acquired tag information with the mover module, but also responsible for obtaining the mover operation information.

[0248] See also Fig.16 , Fig.16 This is a thirteenth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0249] S1501, the mobile control device obtains label information corresponding to the physical label of the moving submodule.

[0250] Specifically, the tag information of the moving submodule can be obtained by identifying the tag identification module. The mobile control device can obtain the tag information of the moving submodule by communicating with the tag identification module.

[0251] S1502, the mobile control device sends the acquired tag information to the upper computer device.

[0252] S1503, the host computer device binds the tag information to the corresponding mover module based on the position information of the mover module.

[0253] Specifically, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. When the host computer device obtains the tag information of the mover module, it also obtains the position information of the mover module. The position information of the mover module can be obtained by a position measurement module connected to the host computer device, or, after being obtained by a position measurement module connected to a mobile control device, it is sent to the host computer device via the mobile control device. In this way, the host computer device can track the mover module in real time through the position information. When the tag information of the mover module is obtained, the mover module whose tag information is obtained can be determined according to the position information of the mover module, and bound to the obtained tag information. Through this binding, it can be ensured that the tag information corresponds to the correct mover module.

[0254] S1504, the upper computer device sends the binding relationship between the tag information and the moving submodule to the mobile control device.

[0255] S1505, the mobile control device locally stores or obtains the mover operation information of the mover module based on the tag information and the binding relationship between the tag information and the mover module determined by the host computer device.

[0256] Specifically, after the mobile control device receives the binding relationship between the tag information sent by the upper computer device and the mover module, the mobile control device can use the bound tag information to store or obtain the mover operation information related to the mover module. The mobile control device can store the mover operation information of the mover module in the local storage unit of the mobile control device, or obtain the mover operation information from the local storage unit of the mobile control device when necessary, for subsequent control operations. The local storage unit of the mobile control device is a storage unit controlled by the mobile control device, and can be controlled by the mobile control device to store or read data. In an embodiment of the present application, the upper computer device is responsible for binding the acquired tag information with the mover module, and the mobile control device is responsible for storing and obtaining the mover operation information.

[0257] In some embodiments, the linear motor device includes a mobile control device, a host device, a stator line body and a mover module; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, and the mover module is provided with an identifiable physical tag, and the physical tag carries unique and fixed tag information. Among them, the physical tag can be identified by the tag identification module to obtain the tag information it carries. The mobile control device is connected to the host device.

[0258] Specifically, the mobile control device is the control unit in the linear motor device, which is responsible for controlling the movement of the mover module and managing the movement stroke, ensuring that the mover module cooperates with the operating device during the movement along the stator line. The mobile control device can independently complete the basic motion control and device interaction tasks of the mover module, ensuring real-time performance and response speed.

[0259] As a high-level management and coordination unit in the linear motor equipment, the host device is responsible for communicating and coordinating multiple mobile control devices. The host device can perform global task allocation and monitoring management for the entire linear motor system. The host device is responsible for receiving status information from multiple mover modules and mobile control devices, and assigning different tasks to each mover module according to production plans and needs. By communicating with the mobile control device, the task coordination between each mover module and equipment is ensured to avoid conflicts and waste of resources. The host device can be a PC or PLC.

[0260] In a specific implementation, an embodiment of the present application provides an information tracing method for a linear motor device, which is specifically applied to a host computer device. The method may include the following steps:

[0261] S1601, the host computer device obtains the label information corresponding to the physical label of the moving module.

[0262] Specifically, unlike the randomly generated identification information in the related art, the tag information carried by the physical tag is unique and fixed. The tag information of the moving submodule can be identified by the tag identification module. The host device can obtain the tag information of the moving submodule by communicating with the tag identification module. The tag identification module can also communicate with the mobile control device, and the host device receives the tag information of the moving submodule transmitted by the mobile control device.

[0263] S1602: The host computer device stores or obtains the mover operation information of the mover module based on the tag information.

[0264] Specifically, the host device accesses the storage area associated with the mover module according to the acquired tag information, and stores or obtains the mover operation information of the mover module. The mover operation information may include mover operating condition data and / or mover control parameters. Due to the uniqueness and fixity of the tag information, the host device stores or obtains the mover operation information of the mover module based on the tag information, which ensures the traceability of the mover operation information, avoids the problem of information loss caused by randomly assigned identification information, and significantly improves the mobile control efficiency of the mover module, thereby improving the transmission efficiency.

[0265] In some embodiments, the specific implementation of the above step S1602 can refer to the description of the above related parts (such as the above steps S101, S502, S602 and S702), which will not be repeated here.

[0266] In some embodiments, after the host computer device obtains the label information corresponding to the physical label of the mover module, it also includes: the host computer device binds the obtained label information to the corresponding mover module based on the position information of the mover module.

[0267] The host device stores or obtains the mover operation information of the mover module based on the tag information, including at least one of the following:

[0268] 1) The host device locally stores or obtains the mover operation information of the mover module based on the tag information;

[0269] 2) The host computer device sends the binding relationship between the tag information and the mover module to the mobile control device, so that the mobile control device stores or obtains the mover operation information of the mover module.

[0270] In order to enable those skilled in the art to more clearly understand and implement the concept, implementation method and advantages of the embodiments of the present application, further detailed description will be given below with examples.

[0271] The information tracing method of the linear motor device provided in the embodiment of the present application may include the following steps:

[0272] S1701, the host computer device obtains the label information corresponding to the physical label of the mover module.

[0273] Specifically, the tag information of the moving submodule can be identified by the tag identification module. The host device can obtain the tag information of the moving submodule by communicating with the tag identification module. The tag identification module can also communicate with the mobile control device, and the host device receives the tag information of the moving submodule transmitted by the mobile control device. That is, the tag information comes from the tag identification module connected to the host device, or the tag information comes from the mobile control device.

[0274] S1702, the upper computer device binds the acquired tag information to the corresponding mover module based on the position information of the mover module.

[0275] Specifically, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. When the host computer device obtains the tag information of the mover module, it also obtains the position information of the mover module. The position information of the mover module can be obtained by a position measurement module connected to the host computer device, or, after being obtained by a position measurement module connected to a mobile control device, it is sent to the host computer device via the mobile control device. In this way, the host computer device can track the mover module in real time through the position information. When the tag information of the mover module is obtained, the mover module whose tag information is obtained can be determined according to the position information of the mover module, and bound to the obtained tag information. Through this binding, it can be ensured that the tag information corresponds to the correct mover module.

[0276] S1703, the host computer device locally stores or obtains the mover operation information of the mover module based on the tag information.

[0277] Specifically, after the host computer device binds the mover module with the label information, the host computer device can use the bound label information to store or obtain the mover operation information related to the mover module. The host computer device can store the mover operation information of the mover module in the local storage unit of the host computer device, or obtain the mover operation information from the local storage unit of the host computer device when necessary for subsequent control operations. The local storage unit of the host computer device is a storage unit controlled by the host computer device, and the host computer device can control the storage or reading of data. In an embodiment of the present application, the host computer device is not only responsible for binding the acquired label information with the mover module, but also responsible for the storage and acquisition of the mover operation information.

[0278] See also Fig.17 , Fig.17 This is a fourteenth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0279] S1801, the host computer device obtains the label information corresponding to the physical label of the mover module.

[0280] Specifically, the tag information of the moving submodule can be identified by the tag identification module. The host device can obtain the tag information of the moving submodule by communicating with the tag identification module. The tag identification module can also communicate with the mobile control device, and the host device receives the tag information of the moving submodule transmitted by the mobile control device. That is, the tag information comes from the tag identification module connected to the host device, or the tag information comes from the mobile control device.

[0281] S1802: The host computer device binds the acquired tag information to the corresponding mover module based on the position information of the mover module.

[0282] Specifically, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. When the host computer device obtains the tag information of the mover module, it also obtains the position information of the mover module. The position information of the mover module can be obtained by a position measurement module connected to the host computer device, or, after being obtained by a position measurement module connected to a mobile control device, it is sent to the host computer device via the mobile control device. In this way, the host computer device can track the mover module in real time through the position information. When the tag information of the mover module is obtained, the mover module whose tag information is obtained can be determined according to the position information of the mover module, and bound to the obtained tag information. Through this binding, it can be ensured that the tag information corresponds to the correct mover module.

[0283] S1803, the upper computer device sends the binding relationship between the tag information and the moving submodule to the mobile control device.

[0284] S1804, the mobile control device stores or obtains the mover operation information of the mover module.

[0285] Specifically, after the mobile control device receives the binding relationship from the upper computer device, it will store the binding relationship. The mobile control device can use the tag information in the binding relationship to access or update the mover operation information of the corresponding mover module. The mobile control device is responsible for storing the mover operation information of the mover module in the storage unit of the mobile control device, or obtaining the mover operation information from the storage unit of the mobile control device when necessary, for subsequent control operations. Among them, the storage unit of the mobile control device is a storage unit directly controlled by the mobile control device, and the mobile control device can control the storage or reading of data. In an embodiment of the present application, the upper computer device is responsible for binding the acquired tag information with the mover module, and the mobile control device is responsible for storing and acquiring the mover operation information.

[0286] In some embodiments, after the upper computer device obtains the tag information corresponding to the physical tag of the moving sub-module, it also includes: the upper computer device sends the obtained tag information to the mobile control device, so that the mobile control device binds the tag information to the corresponding moving sub-module based on the position information of the moving sub-module.

[0287] The host device stores or obtains the mover operation information of the mover module based on the tag information, including at least one of the following:

[0288] 1) The upper computer device sends the tag information and the mover operation information of the mover module to the mobile control device, so that the mobile control device stores the mover operation information of the mover module;

[0289] 2) The host device sends the tag information to the mobile control device, so that the mobile control device obtains the mover operation information of the mover module;

[0290] 3) Based on the tag information and the binding relationship between the tag information and the mover module determined by the mobile control device, the host device locally stores or obtains the mover operation information of the mover module.

[0291] In order to enable those skilled in the art to more clearly understand and implement the concept, implementation method and advantages of the embodiments of the present application, further detailed description will be given below with examples.

[0292] See also Fig.18 , Fig.18 This is a fifteenth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0293] S1901, the host computer device obtains the label information corresponding to the physical label of the mover module.

[0294] Specifically, the tag information of the moving submodule can be obtained by identifying the tag identification module. The host device can obtain the tag information of the moving submodule by communicating with the tag identification module.

[0295] S1902, the upper computer device sends the acquired tag information to the mobile control device.

[0296] S1903, the mobile control device binds the tag information to the corresponding moving sub-module based on the position information of the moving sub-module.

[0297] Specifically, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. When the mobile control device obtains the tag information of the mover module, it also obtains the position information of the mover module. The position information of the mover module can be obtained by a position measurement module connected to the mobile control device, or, after being obtained by a position measurement module connected to the host device, it is sent to the mobile control device via the host device. In this way, the mobile control device can track the mover module in real time through the position information. When the tag information of the mover module is obtained, the mover module whose tag information is obtained can be determined according to the position information of the mover module, and bound to the obtained tag information. Through this binding, it can be ensured that the tag information corresponds to the correct mover module.

[0298] S1904, the upper computer device sends the tag information and the mover operation information of the mover module to the mobile control device.

[0299] S1905, the mobile control device stores the mover operation information of the mover module.

[0300] Specifically, when it is necessary to store the mover operation information of the mover module, the upper computer device sends the tag information and the mover operation information of the mover module to the mobile control device, and the mover operation information is stored through the mobile control device. Based on the tag information, the mobile control device can determine the binding relationship between the tag information and the mover module, so as to accurately store the mover operation information of the mover module in the storage unit of the mobile control device, and avoid the loss and confusion of the mover operation information. Among them, the storage unit of the mobile control device is a storage unit controlled by the mobile control device, and the mobile control device can control the storage or reading of data. In an embodiment of the present application, the mobile control device is not only responsible for binding the acquired tag information with the mover module, but also responsible for the storage of the mover operation information.

[0301] See also Fig.19 , Fig.19 This is a sixteenth flow chart of the information tracing method for linear motor equipment provided by an embodiment of the present application. The method may include the following steps:

[0302] S2001, the host computer device obtains the label information corresponding to the physical label of the moving module.

[0303] Specifically, the tag information of the moving submodule can be obtained by identifying the tag identification module. The host device can obtain the tag information of the moving submodule by communicating with the tag identification module.

[0304] S2002, the host device sends the acquired tag information to the mobile control device.

[0305] S2003, the mobile control device binds the tag information to the corresponding mover module based on the position information of the mover module.

[0306] Specifically, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. When the mobile control device obtains the tag information of the mover module, it also obtains the position information of the mover module. The position information of the mover module can be obtained by a position measurement module connected to the mobile control device, or, after being obtained by a position measurement module connected to the host device, it is sent to the mobile control device via the host device. In this way, the mobile control device can track the mover module in real time through the position information. When the tag information of the mover module is obtained, the mover module whose tag information is obtained can be determined according to the position information of the mover module, and bound to the obtained tag information. Through this binding, it can be ensured that the tag information corresponds to the correct mover module.

[0307] S2004, the host device sends the tag information to the mobile control device.

[0308] S2005, the mobile control device obtains the mover operation information of the mover module.

[0309] Specifically, when it is necessary to obtain the mover operation information of the mover module, the upper computer device sends the tag information of the mover module to the mobile control device, and obtains the mover operation information of the mover module through the mobile control device. Based on the tag information, the mobile control device can determine the binding relationship between the tag information and the mover module, so as to accurately obtain the mover operation information of the mover module in the storage unit of the mobile control device, and avoid the loss and confusion of the mover operation information. Among them, the storage unit of the mobile control device is a storage unit controlled by the mobile control device, and the mobile control device can control the storage or reading of data. In an embodiment of the present application, the mobile control device is not only responsible for binding the acquired tag information with the mover module, but also responsible for obtaining the mover operation information.

[0310] See also Fig. 20 , Fig. 20 This is a seventeenth flow chart of the information tracing method for linear motor equipment provided in an embodiment of the present application. The method may include the following steps:

[0311] S2101, the host computer device obtains label information corresponding to the physical label of the mover module.

[0312] Specifically, the tag information of the moving submodule can be obtained by identifying the tag identification module. The host device can obtain the tag information of the moving submodule by communicating with the tag identification module.

[0313] S2102, the host device sends the acquired tag information to the mobile control device.

[0314] S2103, the mobile control device binds the tag information to the corresponding moving sub-module based on the position information of the moving sub-module.

[0315] Specifically, if there are multiple mover modules, after obtaining the tag information of the mover module, it is necessary to determine a mover module among the multiple mover modules that has a corresponding relationship with the tag information. When the mobile control device obtains the tag information of the mover module, it also obtains the position information of the mover module. The position information of the mover module can be obtained by a position measurement module connected to the mobile control device, or, after being obtained by a position measurement module connected to the host device, it is sent to the mobile control device via the host device. In this way, the mobile control device can track the mover module in real time through the position information. When the tag information of the mover module is obtained, the mover module whose tag information is obtained can be determined according to the position information of the mover module, and bound to the obtained tag information. Through this binding, it can be ensured that the tag information corresponds to the correct mover module.

[0316] S2104, the mobile control device sends the binding relationship between the tag information and the mover module to the upper computer device.

[0317] S2105, the upper computer device locally stores or obtains the mover operation information of the mover module based on the tag information and the binding relationship between the tag information and the mover module determined by the mobile control device.

[0318] Specifically, after the host computer device receives the binding relationship between the tag information sent by the mobile control device and the mover module, the host computer device can use the bound tag information to access or update the mover operation information related to the mover module. The host computer device can store the mover operation information of the mover module in the local storage unit of the host computer device, or obtain the mover operation information from the local storage unit of the host computer device when necessary for subsequent control operations. The local storage unit of the host computer device is a storage unit controlled by the host computer device, and the host computer device can control the storage or reading of data. In an embodiment of the present application, the mobile control device is responsible for binding the acquired tag information with the mover module, and the host computer device is responsible for the storage and acquisition of the mover operation information.

[0319] The embodiments of the present application also provide products corresponding to the above methods, which are described in detail below with reference to the accompanying drawings through specific embodiments. It should be noted that the products described below may include functional modules and / or physical hardware required to implement the methods provided in the embodiments of the present invention; the content of the products described below may correspond to the content of the methods described above.

[0320] The following will be combined Fig.21 , the information tracing device of the linear motor device provided in the embodiment of the present application is introduced in detail. It should be noted that, Fig.21 The information tracing device of the linear motor device shown can be considered as a functional module for executing the above method embodiment of the present application, and the functional module can be implemented by one or more combinations of analog circuits, digital circuits, integrated circuits, and processing chips. For ease of explanation, only the parts related to the embodiment of the present application are shown. For specific technical details not disclosed, please refer to the above method embodiment of the present application.

[0321] See also Fig.21 , which shows a schematic diagram of the structure of the information tracing device of the linear motor device provided in the embodiment of the present application. The information tracing device 2100 of the linear motor device can be implemented as all or part of the device through software, hardware or a combination of both. The information tracing device 2100 includes:

[0322] The tag identification module 2110 is used to obtain tag information corresponding to the physical tag of the moving submodule;

[0323] The information processing module 2120 is used to store or obtain the mover operation information of the mover module based on the tag information.

[0324] In an embodiment of the present application, the process of storing or obtaining the mover operation information of the mover module based on the tag information of the physical tag ensures that each operation step of the mover module can be accurately recorded and tracked, avoiding the information loss problem that may be caused by dynamic identification allocation, and significantly improving the accuracy of the mover module movement control and the transmission efficiency of the system.

[0325] In some embodiments, the information tracing device 2100 further includes a mover identification configuration module, including at least one of the following:

[0326] A first identification configuration unit, used to set the tag information as the mover identification of the mover module;

[0327] A second identification configuration unit, configured to obtain designated identification information associated with the tag information of the mover module, and set the designated identification information as the mover identification of the mover module;

[0328] The third identification configuration unit is used to obtain the mover identification of the mover module and associate the mover identification of the mover module with the tag information of the mover module.

[0329] In some embodiments, the information processing module 2120 includes at least one of the following:

[0330] A first processing unit, configured to determine a corresponding storage area based on the tag information, and store or obtain the mover operation information of the mover module;

[0331] A second processing unit, configured to determine the associated designated identification information based on the tag information, and store or obtain the mover operation information of the mover module based on a storage area corresponding to the designated identification information;

[0332] The third processing unit is used to determine the associated mover identification based on the label information, and store or obtain the mover operation information of the mover module based on the storage area corresponding to the mover identification and the label information.

[0333] In some embodiments, the third processing unit is specifically configured to:

[0334] Using the tag information as the index number of the mover operation information to store the mover operation information in a storage area corresponding to the mover identifier;

[0335] Based on the tag information, a search is performed in a storage area corresponding to the mover identification to obtain the mover operation information.

[0336] In some embodiments, the third identification configuration unit is specifically used to:

[0337] When the mover identification allocation operation is triggered, storage status information corresponding to a plurality of candidate identification information is obtained, and the candidate identification information whose storage status information meets the selection condition is set as the mover identification of the mover module.

[0338] In some embodiments, the third identification configuration unit includes any one of the following:

[0339] A first selection subunit is used to select, from the storage status information corresponding to the plurality of candidate identification information, a candidate identification information whose free storage capacity indicated by the storage status information exceeds a preset capacity threshold, and set it as the mover identification of the mover module;

[0340] The second selection subunit is used to select a candidate identification information with the largest free storage capacity indicated by the storage status information from the storage status information corresponding to the plurality of candidate identification information, and set it as the mover identification of the mover module.

[0341] In some embodiments, the idle storage capacity includes storage capacity where no information is stored and / or storage capacity where information has been stored for longer than a preset time period.

[0342] In some embodiments, the mover operation information includes mover operating data and / or mover control parameters; the mover operating data includes status data for characterizing the motion state of the mover module and operation history data for characterizing the operation equipment experienced by the mover module; the mover control parameters are used to control the movement of the mover module.

[0343] In some embodiments, the information tracing device 2100 further includes a mover control module, which is specifically used to:

[0344] The mover control parameters are adjusted according to the mover working condition data of the mover module to adjust the motion state of the mover module.

[0345] In some embodiments, the information tracing device 2100 further includes an actuator binding module, which is specifically used to:

[0346] Based on the position information of the mover module, the acquired tag information is bound to the corresponding mover module.

[0347] In some embodiments, the physical tag includes a visual identification tag and / or an electronic identification tag.

[0348] Specifically, the visual identification label is a physical label that can be identified by visual analysis technology. The visual identification label is composed of visual elements and can be formed on a blank label paper by printing, spraying, etc. For example, the visual elements may include: one or more combinations of graphics, patterns, and characters. Optionally, the visual identification label can be identified by an image acquisition unit.

[0349] An electronic identification tag is a physical tag that can be identified by electronic signal analysis technology, and may contain a chip, antenna or other electronic components for storing and transmitting information. An electronic identification tag can be identified by radio waves, magnetic fields, etc. Alternatively, an electronic identification tag can be identified by a wireless sensing unit and / or a wireless communication unit.

[0350] In some embodiments, the physical tag includes one or more of a Radio Frequency Identification (RFID) tag, a Near Field Communication (NFC) tag, a QR code, and a barcode.

[0351] Exemplarily, the physical tag may include a barcode, and correspondingly, the tag identification module may include a scanner or camera for barcode identification. The physical tag may include a QR code, and correspondingly, the tag identification module may include a scanner or camera for QR code identification. The physical tag may include an RFID tag, and correspondingly, the tag identification module may include an RFID reader / writer. The physical tag may be an NFC tag, and correspondingly, the tag identification module 130 may include an NFC reader / writer.

[0352] Optionally, one or more combinations of RFID tags, NFC tags, QR codes and bar codes form the physical tags of the mover module. For example, the physical tags of the mover module can be obtained by combining tags of the QR code and RFID tag types. The QR code and the RFID tag carry the same tag information. As long as the tag recognition module can read at least one of the QR code and the RFID tag, the tag information corresponding to the mover module can be obtained. In this way, the physical tags of the mover module can adapt to multiple types of tag recognition methods, increasing the applicability of the physical tags of the mover module.

[0353] In some embodiments, the physical tag may be located on the surface of the mover module or embedded in the mover module, and the tag identification module 2110 may be located on the surface of the stator wire or embedded in the stator wire.

[0354] Specifically, the physical label can be set on the surface of the mover module, and the physical label is directly exposed to the outside and is easy to be recognized by the label recognition module. For example, a visual recognition label is set on the surface of the mover module. The physical label can be set on the surface of the mover module by pasting, welding, screwing, etc.

[0355] Furthermore, when the physical label is provided on the surface of the mover module, the physical label may be a detachable label, so that after the physical label is damaged, the damaged physical label may be quickly removed, thereby speeding up maintenance.

[0356] The physical tag can be embedded inside the mover module, thereby providing better protection for the physical tag and reducing the probability of damage to the physical tag. For example, an electronic identification tag is embedded inside the mover module, so that the object that penetrates the mover module by radio waves or magnetic fields can be identified by the tag identification module.

[0357] The tag recognition module is deployed along the stator line to identify the physical tag of the moving module passing by. When the moving module moves into the recognition range of the tag recognition module, the tag recognition module will identify the tag information of the physical tag. It can be understood that in actual applications, the tag recognition module may include one or more hardware of a wireless sensing unit, a wireless communication unit, and an image acquisition unit, depending on the type of physical tag, and the embodiment of the present application does not impose specific restrictions on this.

[0358] The label identification module can be set on the surface of the stator wire body, so that it can directly face the physical label of the mover module, can quickly identify the physical label, and facilitate the installation and maintenance of the label identification module. For example, the position of the label identification module relative to the stator wire body can be quickly changed according to needs.

[0359] The tag identification module can be embedded inside the stator body, reducing the space occupied by the stator body and the tag identification module, thus improving the hardware integration of the linear motor equipment. Especially in industrial environments that require dust and water resistance, embedding the tag identification module into the stator body can better adapt to harsh working conditions.

[0360] In some embodiments, a accommodating space is formed between the stator wire and the mover module, the physical label is located on a side of the mover module close to the accommodating space, and the label identification module 2110 is located on a side of the stator wire close to the accommodating space and opposite to the physical label.

[0361] For example, Fig. 22 As shown, the mover module includes a magnetic component 22 and a placement piece 23, the stator wire includes an excitation component 12 and a base 13, the magnetic component 22 is gap-matched with the excitation component 12 of the stator wire, alternating current is passed into the excitation component 12 of the stator wire to generate a changing magnetic field, the magnetic component 22 is magnetically coupled with the energized excitation component 12 to generate thrust, and the magnetic component 22 moves under the action of the thrust, thereby driving the placement piece 23 connected thereto to move relative to the stator wire.

[0362] In addition, the mover module further includes a first guide structure 24 and a second guide structure 25, which are respectively connected to the placement member 23, and the stator line body further includes a third guide structure 14 that is slidably matched with the first guide structure 24, and a fourth guide structure 15 that is slidably matched with the second guide structure 25, and the third guide structure 14 and the fourth guide structure 15 are also respectively connected to the base 13. Thus, one or more accommodating spaces (such as Fig. 22The accommodating space 11 is shown. A physical tag 21 is provided on one side of the moving module close to the accommodating space 11, and a tag identification module 2110 is provided on one side of the stator body close to the accommodating space 11, and the tag identification module 2110 is provided opposite to the physical tag 21.

[0363] It should be noted that Fig. 22 The positions of the tag identification module 2110 and the physical tag 21 are only examples. Those skilled in the art can adjust the specific installation positions of the tag identification module and the physical tag according to actual needs, which will not be listed one by one here.

[0364] In some embodiments, the tag identification module 2110 is disposed upstream of the first operating device in the path of the mover module; or, the tag identification module 2110 is disposed corresponding to the starting operating position of the first operating device in the path of the mover module. The upstream of the operating device can be understood as a position before the operating device along the conveying direction. In other words, the mover module will first pass the upstream of the operating device before reaching the operating device during the movement.

[0365] For example, Fig.23 As shown, in the automated production system, at least one operating device (such as Fig.23 Two operating devices are shown, namely, operating device 30-1 and operating device 30-2); the mover module 20 moves along the stator line 10 and passes through the operating device 30-1 and the operating device 30-2 in sequence. The tag identification module 2110 is set upstream of the first operating device on the moving path of the mover module 20, that is, upstream of the operating device 30-1. When the mover module 20 moves along the stator line 10, the mover module 20 first passes through the tag identification module 2110, and the tag identification module 2110 reads the physical tag ( Fig.23 The moving module 20 then continues to move and interacts with the operating device 30-1.

[0366] From the above, it can be seen that by setting the label identification module upstream of the first operating device, the label information corresponding to the mover module can be obtained before the mover module reaches the operating device, thereby confirming the mover identification of the mover module in advance and tracing the historical information of the mover module to control the subsequent movement stroke of the mover module.

[0367] In addition, the installation position of the tag identification module can be set according to the operating range of the first operating device. For example, the tag identification module can be set at the starting operating position of the first operating device (that is, the tag identification module overlaps with the starting operating position of the first operating device), or the tag identification module can be set around the part of the stator line body relative to the starting operating position according to the starting operating position of the first operating device, such as above, below or to the side of the part of the stator line body relative to the starting operating position, to ensure that the tag information can be synchronously obtained when the mover module and the first operating device start to interact and cooperate, so as to confirm the mover identification of the mover module and trace the historical information of the mover module, so as to control the subsequent movement of the mover module.

[0368] In some embodiments, the tag identification module 2110 is deployed upstream of each of the operating devices; or, the tag identification module 2110 is deployed corresponding to the starting operation position of each of the operating devices.

[0369] In a specific implementation, when the linear motor device loses power, all electrical components will lose power support and will no longer be able to monitor the position and state changes of the mover module. After restarting, the linear motor device will lose the mover identification of the mover module previously recorded. To ensure that the label information of each mover module can be retrieved after the linear motor device is powered off and restarted, the label identification module can be deployed upstream of each operating device, or the label identification module can be deployed according to the starting operating position of each operating device.

[0370] For example, Fig.24 As shown, at least one operating device (such as Fig.24 Two operating devices are shown, namely, operating device 30-1 and operating device 30-2); the moving module 20 moves along the stator line 10 and passes through the operating device 30-1 and the operating device 30-2 in sequence. Fig.24 Two tag identification modules are shown in the figure, namely, tag identification module 2110-1 and tag identification module 2110-2) are arranged upstream of each operating device on the moving path of the mover module 20, that is, tag identification module 2110-1 is arranged upstream of the operating device 30-1, and tag identification module 2110-2 is arranged upstream of the operating device 30-2. When the mover module 20 moves along the stator line 10, the mover module 20 first passes through the tag identification module 2110-1, and the tag identification module 2110-1 can read the physical tag ( Fig.24(not shown in the figure), and then the moving module 20 continues to move and interacts with the operating device 30-1. Alternatively, the moving module 20 first passes through the tag identification module 2110-2, and the tag identification module 2110-2 can read the information of the physical tag of the moving module 20, and then the moving module 20 continues to move and interacts with the operating device 30-2.

[0371] From the above, it can be seen that by setting the tag identification module upstream of each operating device, the tag information corresponding to the mover module can be obtained before the mover module reaches the operating device. Even if the linear motor device stops and restarts, and the mover module loses the mover identification configured based on the tag information, the tag information corresponding to the mover module can be re-identified and obtained before the mover module enters any operating device, thereby confirming the mover identification of the mover module in advance and tracing the historical information of the mover module to control the subsequent movement stroke of the mover module.

[0372] In addition, the installation position of the tag identification module can be set according to the operating range of each operating device. For example, the tag identification module can be set at the starting operating position of the operating device (that is, the tag identification module overlaps with the starting operating position of the operating device), or the tag identification module can be set around the part of the stator line body relative to the starting operating position according to the starting operating position of the operating device, such as above, below or to the side of the part of the stator line body relative to the starting operating position, to ensure that the tag information can be synchronously obtained when the mover module and the operating device start to interact and cooperate, so as to confirm the mover identification of the mover module and trace the historical information of the mover module, so as to control the subsequent movement of the mover module.

[0373] In some embodiments, the linear motor device also includes a transfer mechanism connected to the stator line body for transferring the mover module; the tag identification module 2110 is deployed in accordance with the end of the stator line body connected to the transfer mechanism; and / or the tag identification module 2110 is deployed in accordance with the transfer mechanism.

[0374] Specifically, the stator line can be formed by sequentially splicing a plurality of stator modules along the conveying direction, and the stator modules are in a straight line shape or an arc shape along the conveying direction. Fig.25 As shown in (a) in FIG. 1 , the shape formed by the stator module along the conveying direction may be a straight line shape; or Fig.25 As shown in (b) in FIG. 1 , the shape formed by the stator module along the conveying direction may be an arc shape.

[0375] It can be understood that, depending on the splicing of the stator modules, in terms of shape, a closed-shaped stator wire body can be spliced, such as a circular stator wire body, a racetrack-shaped stator wire body, a square-circular stator wire body, etc.; or, a non-closed-shaped stator wire body can be spliced, such as an S-shaped stator wire body, a straight-line stator wire body, a C-shaped stator wire body, etc.

[0376] In a specific implementation, for a single non-closed stator line or multiple non-closed stator lines distributed at intervals, the linear motor device requires a transfer mechanism to transfer the mover module from one end of the stator line to the other end of the stator line, or to transfer the mover module from one stator line to another. Optionally, the transfer mechanism can use a mechanical transmission component (such as one or more of a conveyor belt component, a chain component, and a telescopic component) to transfer the mover module, and combine it with the stator line to form a mixed conveyor line.

[0377] For example, two stator wire bodies of non-closed shapes are horizontally connected through the conveyor belt component of the transfer mechanism to form a mixed conveyor wire body. For another example, two stator wire bodies of non-closed shapes are vertically connected through the telescopic component of the transfer mechanism to form a mixed conveyor wire body.

[0378] Generally speaking, the transfer mechanism does not have a positioning function. When the transfer mechanism transfers the moving sub-module, it cannot provide the position information of the moving sub-module. At this time, the moving sub-module is in a tracking blind spot. When the moving sub-module re-enters the original stator line or the new stator line through the transfer mechanism, the linear motor device will regard the moving sub-module as a new tracking object and needs to set the moving sub-identification for it again, which triggers the event of setting the moving sub-identification again. As described in the previous relevant section, the existing randomly assigned identification information may lead to information loss problems.

[0379] Although the tracking blind area can be reduced by deploying positioning modules in the transfer mechanism, as the transfer distance increases, the number of positioning modules or positioning areas required increases, resulting in a significant increase in hardware cost and computing power. Therefore, a solution that takes into account both hardware cost and actuator recognition efficiency is needed.

[0380] For example, Fig.26 As shown, the linear motor device may further include a transfer mechanism 40, the transfer mechanism 40 and the two ends of the stator wire (ie Fig.26 10-a and 10-b) are connected to transfer the submodule 20 at both ends of the stator body. The transfer mechanism 40 may specifically include a conveyor belt component ( Fig.26 The tag identification module 2110 may be deployed according to the end of the stator line body connected to the transfer mechanism 40, as shown in FIG. Fig.26 As shown, the tag identification module 2110 is deployed around the end 10 - b of the stator wire body.

[0381] For example, Fig. 27 As shown, the linear motor device may further include a transfer mechanism 40, which is connected to the stator line body 10-1 and the stator line body 10-2 respectively, and is used to transfer the submodule 20 between the stator line body 10-1 and the stator line body 10-2; the transfer mechanism 40 may specifically include a conveyor belt component and a telescopic component ( Fig. 27 The tag identification module 2110 may be deployed according to the transfer mechanism 40, specifically as follows: Fig. 27 As shown, the tag identification module 2110 is deployed around the transfer mechanism 40.

[0382] From the above, it can be seen that when the mover module moves along the hybrid conveyor line, the label information carried by the mover module can be identified by deploying a label identification module around the hybrid conveyor line. When the mover module re-enters the stator line, it can be ensured that the mover identification of the mover module has been reset. In this way, tracking blind spots can be avoided. Compared with deploying a positioning module, deploying a label identification module is not affected by the transfer distance, so it can take into account both hardware cost and mover identification efficiency requirements.

[0383] Optionally, the label identification module can be deployed according to the end where the mover module re-enters the stator line or the end where the mover module moves out of the transfer mechanism, so as to identify the label information of the mover module re-enters the stator line or moves out of the transfer mechanism; or, the label identification module can also be deployed according to the end where the mover module moves out of the stator line or the end where the mover module enters the transfer mechanism, so as to identify the label information of the mover module entering the transfer mechanism or moving out of the stator line.

[0384] In some embodiments, the tag identification module 2110 is fixedly connected to the transfer mechanism; and / or, the tag identification module 2110 is independently arranged relative to the transfer mechanism.

[0385] Optionally, the tag identification module can be directly or indirectly fixedly connected to the transfer mechanism, and further, the tag identification module can be directly or indirectly fixedly connected to the mechanical transmission component of the transfer mechanism. Regardless of whether the transfer mechanism transfers the moving submodule, the tag identification module remains linked with the transfer mechanism. The fixed connection method can ensure that after the moving submodule enters the transfer mechanism, the tag identification module is linked with the moving submodule through the transfer mechanism, and the physical label of the moving submodule is identified during the movement of the moving submodule, thereby improving the moving submodule transfer efficiency.

[0386] Optionally, the tag identification module can be set independently from the transfer mechanism. In this way, even if the transfer mechanism moves the submodule, the position of the tag identification module does not change. The independent setting method allows the tag identification module to perform tag identification at a fixed position around the transfer mechanism, which can avoid the tag identification module being interfered by the transfer mechanism, thereby improving the efficiency of physical tag identification.

[0387] The following will be combined Fig.28 , the linear motor device provided in the embodiment of the present application is described in detail. Fig.28 , which shows a schematic diagram of the structure of the first linear motor device provided by an embodiment of the present application. The linear motor device includes a mobile control device 2810, a stator line body 2820 and a mover module 2830; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, and the mover module is provided with an identifiable physical label, and the physical label carries unique and fixed label information; the mobile control device is connected to the upper computer device, and the mobile control device 2810 includes:

[0388] The tag identification module 2811 is used to obtain the tag information corresponding to the physical tag of the moving module;

[0389] The information processing module 2812 is used to store or obtain the mover operation information of the mover module based on the tag information.

[0390] In an embodiment of the present application, the process of storing or obtaining the mover operation information of the mover module based on the tag information of the physical tag ensures that each operation step of the mover module can be accurately recorded and tracked, avoiding the information loss problem that may be caused by dynamic identification allocation, and significantly improving the accuracy of the mover module movement control and the transmission efficiency of the system.

[0391] In some embodiments, the information processing module 2812 is further used to bind the acquired tag information to the corresponding mover module based on the position information of the mover module; wherein the tag information comes from a tag identification module connected to the mobile control device, or the tag information comes from the host computer device;

[0392] The information processing module 2812 is also used for at least one of the following:

[0393] Based on the tag information, locally store or obtain the mover operation information of the mover module;

[0394] The binding relationship between the tag information and the mover module is sent to the host computer device, so that the host computer device stores or obtains the mover operation information of the mover module.

[0395] In some embodiments, the information processing module 2812 is further used to send the acquired tag information to the host computer device, so that the host computer device binds the tag information to the corresponding mover module based on the position information of the mover module;

[0396] The information processing module 2812 is also used for at least one of the following:

[0397] Sending the tag information and the mover operation information of the mover module to the host computer device, so that the host computer device stores the mover operation information of the mover module;

[0398] Sending the tag information to the host computer device so that the host computer device obtains the mover operation information of the mover module;

[0399] Based on the tag information, according to the binding relationship between the tag information and the mover module determined by the host computer device, the mover operation information of the mover module is stored or obtained locally.

[0400] The following will be combined Fig.29 , the linear motor device provided in the embodiment of the present application is described in detail. Fig.29 , which shows a schematic diagram of the structure of the second linear motor device provided by an embodiment of the present application. The linear motor device includes a host computer device 2910, a mobile control device 2920, a stator line body 2930 and a mover module 2940; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, and the mover module is provided with an identifiable physical label, and the physical label carries unique and fixed label information; the mobile control device 2920 is connected to the host computer device 2910, and the host computer device 2910 includes:

[0401] The tag identification module 2911 is used to obtain the tag information corresponding to the physical tag of the moving submodule;

[0402] The information processing module 2912 is used to store or obtain the mover operation information of the mover module based on the tag information.

[0403] In an embodiment of the present application, the process of storing or obtaining the mover operation information of the mover module based on the tag information of the physical tag ensures that each operation step of the mover module can be accurately recorded and tracked, avoiding the information loss problem that may be caused by dynamic identification allocation, and significantly improving the accuracy of the mover module movement control and the transmission efficiency of the system.

[0404] In some embodiments, the information processing module 2912 is further used to bind the acquired tag information to the corresponding mover module based on the position information of the mover module; wherein the tag information comes from a tag identification module connected to the host device, or the tag information comes from the mobile control device;

[0405] The information processing module 2912 is further configured to:

[0406] Based on the tag information, locally store or obtain the mover operation information of the mover module;

[0407] The binding relationship between the tag information and the mover module is sent to the mobile control device, so that the mobile control device stores or obtains the mover operation information of the mover module.

[0408] In some embodiments, the information processing module 2912 is further used to send the acquired tag information to the mobile control device, so that the mobile control device binds the tag information to the corresponding moving submodule based on the position information of the moving submodule;

[0409] The information processing module 2912 is further configured to:

[0410] Sending the tag information and the mover operation information of the mover module to the mobile control device, so that the mobile control device stores the mover operation information of the mover module;

[0411] Sending the tag information to the mobile control device so that the mobile control device obtains the mover operation information of the mover module;

[0412] Based on the tag information, according to the binding relationship between the tag information and the mover module determined by the mobile control device, the mover operation information of the mover module is locally stored or obtained.

[0413] An embodiment of the present application further provides an electronic device, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the information tracing method of the linear motor device described in any of the above embodiments.

[0414] Please refer to Fig.30, is a block diagram of the structure of an electronic device of a linear motor device provided in an embodiment of this specification. The electronic device in this specification may include one or more of the following components: a processor 3010, a memory 3020, an input device 3030, an output device 3040, and a bus 3050. The processor 3010, the memory 3020, the input device 3030, and the output device 3040 may be connected via a bus 3050.

[0415] The processor 3010 may include one or more processing cores. The processor 3010 uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions and processes data of the terminal 100 by running or executing instructions, programs, code sets or instruction sets stored in the memory 3020, and calling data stored in the memory 3020. Optionally, the processor 3010 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 3010 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 3010, but may be implemented separately through a communication chip.

[0416] The memory 3020 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 3020 includes a non-transitory computer-readable storage medium. The memory 3020 may be used to store instructions, programs, codes, code sets, or instruction sets.

[0417] The input device 3030 is used to receive input instructions or data, and the input device 3030 includes but is not limited to a keyboard, a mouse, a camera, a microphone or a touch device. The output device 3040 is used to output instructions or data, and the output device 3040 includes but is not limited to a display device and a speaker. In the embodiment of this specification, the input device 3030 can be a temperature sensor for obtaining the operating temperature of the electronic device. The output device 3040 can be a speaker for outputting audio signals.

[0418] In addition, those skilled in the art will appreciate that the structure of the electronic device shown in the above drawings does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than shown, or combine certain components, or arrange the components differently. For example, the electronic device also includes a radio frequency circuit, an input unit, a sensor, an audio circuit, a wireless fidelity (WIFI) module, a power supply, a Bluetooth module, and other components, which will not be described in detail here.

[0419] In the embodiments of this specification, the execution subject of each step may be the electronic device described above. Optionally, the execution subject of each step is the operating system of the electronic device. The operating system may be an Android system, an IOS system, or other operating systems, which is not limited in the embodiments of this specification.

[0420] Understandably, Fig.30 This is an optional structure of the electronic device shown for ease of understanding. The specific structure of the electronic device can be designed and changed according to actual conditions, and the embodiments of the present application do not impose specific limitations on this.

[0421] exist Fig.30 In the electronic device, the memory 3020 may store a program of any one of the above-mentioned methods for tracing information of the linear motor device. The processor 3010 may be used to call the program of any one of the methods for tracing information of the linear motor device stored in the memory 3020.

[0422] For example, in some embodiments, the processor 3010 may be used to call the information tracing method of the linear motor device stored in the memory 3020, and specifically perform the following operations:

[0423] Get the label information corresponding to the physical label of the actuator module;

[0424] Based on the tag information, the mover operation information of the mover module is stored or acquired.

[0425] In some embodiments, the processor 3010 may be used to call the information tracing method of the linear motor device stored in the memory 3020, and specifically perform at least one of the following operations:

[0426] Setting the tag information as the mover identification of the mover module;

[0427] Acquire designated identification information associated with the tag information of the mover module, and set the designated identification information as the mover identification of the mover module;

[0428] The mover identification of the mover module is obtained, and the mover identification of the mover module is associated with the tag information of the mover module.

[0429] In some embodiments, the processor 3010 may be used to call the information tracing method of the linear motor device stored in the memory 3020, and specifically perform at least one of the following operations:

[0430] Based on the tag information, determine a corresponding storage area to store or obtain the mover operation information of the mover module;

[0431] Based on the tag information, determine the associated designated identification information, and based on the storage area corresponding to the designated identification information, store or obtain the mover operation information of the mover module;

[0432] Based on the tag information, the associated mover identification is determined, and based on the storage area corresponding to the mover identification and the tag information, the mover operation information of the mover module is stored or acquired.

[0433] In some embodiments, the processor 3010 may be used to call the information tracing method of the linear motor device stored in the memory 3020, and specifically perform at least one of the following operations:

[0434] Using the tag information as the index number of the mover operation information to store the mover operation information in a storage area corresponding to the mover identifier;

[0435] Based on the tag information, a search is performed in a storage area corresponding to the mover identification to obtain the mover operation information.

[0436] In some embodiments, the processor 3010 may be used to call the information tracing method of the linear motor device stored in the memory 3020, and specifically perform the following operations:

[0437] When the mover identification allocation operation is triggered, storage status information corresponding to a plurality of candidate identification information is obtained, and the candidate identification information whose storage status information meets the selection condition is set as the mover identification of the mover module.

[0438] In some embodiments, the processor 3010 may be used to call the information tracing method of the linear motor device stored in the memory 3020, and specifically perform any one of the following operations:

[0439] Among the storage status information corresponding to the plurality of candidate identification information, a candidate identification information whose free storage capacity indicated by the storage status information exceeds a preset capacity threshold is selected and set as the mover identification of the mover module;

[0440] Among the storage status information corresponding to the plurality of candidate identification information, a candidate identification information having the largest free storage capacity indicated by the storage status information is selected and set as the mover identification of the mover module.

[0441] In some embodiments, the idle storage capacity includes storage capacity where no information is stored and / or storage capacity where information has been stored for longer than a preset time period.

[0442] In some embodiments, the mover operation information includes mover operating data and / or mover control parameters; the mover operating data includes status data for characterizing the motion state of the mover module and operation history data for characterizing the operation equipment experienced by the mover module; the mover control parameters are used to control the movement of the mover module.

[0443] In some embodiments, the processor 3010 may be used to call the information tracing method of the linear motor device stored in the memory 3020, and specifically perform the following operations:

[0444] The mover control parameters are adjusted according to the mover working condition data of the mover module to adjust the motion state of the mover module.

[0445] In some embodiments, the processor 3010 may be used to call the information tracing method of the linear motor device stored in the memory 3020, and specifically perform the following operations:

[0446] Based on the position information of the mover module, the acquired tag information is bound to the corresponding mover module.

[0447] An embodiment of the present application further provides a computer-readable storage medium storing at least one instruction, wherein the at least one instruction is used to be executed by a processor to implement the information tracing method of the linear motor device as described in the above embodiments.

[0448] An embodiment of the present application further provides a computer program product, which stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the information tracing method of the linear motor device as described in the above embodiments.

[0449] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented with hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access.

[0450] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for tracing information of a linear motor device, characterized in that: The linear motor device comprises a stator line and a mover module; at least one operating device is distributed around the stator line, the mover module is suitable for moving along the stator line and passing through the operating device, and the mover module is provided with an identifiable physical tag, and the physical tag carries unique and fixed tag information; the method comprises: Obtaining label information corresponding to the physical label of the mover module; Based on the tag information, the mover operation information of the mover module is stored or acquired.

2. The method according to claim 1, characterized in that The method further comprises at least one of the following: Setting the tag information as the mover identification of the mover module; Acquire designated identification information associated with the tag information of the mover module, and set the designated identification information as the mover identification of the mover module; The mover identification of the mover module is obtained, and the mover identification of the mover module is associated with the tag information of the mover module.

3. The method according to claim 1, characterized in that The storing or acquiring the mover operation information of the mover module based on the tag information includes at least one of the following: Based on the tag information, determine a corresponding storage area to store or obtain the mover operation information of the mover module; Based on the tag information, determine the associated designated identification information, and based on the storage area corresponding to the designated identification information, store or obtain the mover operation information of the mover module; Based on the tag information, the associated mover identification is determined, and based on the storage area corresponding to the mover identification and the tag information, the mover operation information of the mover module is stored or acquired.

4. The method according to claim 3, characterized in that The storing or acquiring the mover operation information of the mover module based on the storage area corresponding to the mover identifier and the label information includes at least one of the following: Using the tag information as the index number of the mover operation information to store the mover operation information in a storage area corresponding to the mover identifier; Based on the tag information, a search is performed in a storage area corresponding to the mover identification to obtain the mover operation information.

5. The method according to claim 2, characterized in that: The obtaining of the mover identification of the mover module includes: When the mover identification allocation operation is triggered, storage status information corresponding to a plurality of candidate identification information is obtained, and the candidate identification information whose storage status information meets the selection condition is set as the mover identification of the mover module.

6. The method according to claim 5, characterized in that The step of setting the candidate identification information whose storage status information meets the selection condition as the mover identification of the mover module comprises any one of the following: Among the storage status information corresponding to the plurality of candidate identification information, a candidate identification information whose free storage capacity indicated by the storage status information exceeds a preset capacity threshold is selected and set as the mover identification of the mover module; Among the storage status information corresponding to the plurality of candidate identification information, a candidate identification information having the largest free storage capacity indicated by the storage status information is selected and set as the mover identification of the mover module.

7. The method according to claim 6, characterized in that The idle storage capacity includes storage capacity where no information is stored and / or storage capacity where information has been stored for longer than a preset time period.

8. The method according to claim 1, characterized in that The mover operation information includes mover operating data and / or mover control parameters; the mover operating data includes state data for characterizing the motion state of the mover module and operation history data for characterizing the operation equipment experienced by the mover module; the mover control parameters are used to control the movement of the mover module.

9. The method according to claim 8, characterized in that The method further comprises: The mover control parameters are adjusted according to the mover working condition data of the mover module to adjust the motion state of the mover module.

10. The method according to claim 1, characterized in that After acquiring the label information corresponding to the physical label of the mover module, the method further includes: Based on the position information of the mover module, the acquired tag information is bound to the corresponding mover module.

11. A method for tracing information of a linear motor device, characterized in that: The linear motor device comprises a mobile control device, a stator line body and a mover module; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, and the mover module is provided with an identifiable physical tag, and the physical tag carries unique and fixed tag information; the mobile control device is connected to a host computer device, and the method is applied to the mobile control device, and the method comprises: Obtaining label information corresponding to the physical label of the mover module; Based on the tag information, the mover operation information of the mover module is stored or acquired.

12. The method according to claim 11, characterized in that After acquiring the label information corresponding to the physical label of the mover module, the method further includes: Based on the position information of the moving submodule, the acquired tag information is bound to the corresponding moving submodule; wherein the tag information comes from a tag identification module connected to the mobile control device, or the tag information comes from the host computer device; The storing or acquiring the mover operation information of the mover module based on the tag information includes at least one of the following: Based on the tag information, locally store or obtain the mover operation information of the mover module; The binding relationship between the tag information and the mover module is sent to the host computer device, so that the host computer device stores or obtains the mover operation information of the mover module.

13. The method according to claim 11, characterized in that After acquiring the label information corresponding to the physical label of the mover module, the method further includes: The acquired tag information is sent to the host computer device, so that the host computer device binds the tag information to the corresponding mover module based on the position information of the mover module; The storing or acquiring the mover operation information of the mover module based on the tag information includes at least one of the following: Sending the tag information and the mover operation information of the mover module to the host computer device, so that the host computer device stores the mover operation information of the mover module; Sending the tag information to the host computer device so that the host computer device obtains the mover operation information of the mover module; Based on the tag information, according to the binding relationship between the tag information and the mover module determined by the host computer device, the mover operation information of the mover module is stored or obtained locally.

14. A method for tracing information of a linear motor device, characterized in that: The linear motor device comprises a host computer device, a mobile control device, a stator line body and a mover module; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, and the mover module is provided with an identifiable physical label, and the physical label carries unique and fixed label information; the mobile control device is connected to the host computer device, and the method is applied to the host computer device, and the method comprises: Obtaining label information corresponding to the physical label of the mover module; Based on the tag information, the mover operation information of the mover module is stored or acquired.

15. The method according to claim 14, characterized in that After acquiring the label information corresponding to the physical label of the mover module, the method further includes: Based on the position information of the moving submodule, the acquired tag information is bound to the corresponding moving submodule; wherein the tag information comes from a tag identification module connected to the host device, or the tag information comes from the mobile control device; The storing or acquiring the mover operation information of the mover module based on the tag information includes at least one of the following: Based on the tag information, locally store or obtain the mover operation information of the mover module; The binding relationship between the tag information and the mover module is sent to the mobile control device, so that the mobile control device stores or obtains the mover operation information of the mover module.

16. The method according to claim 14, characterized in that After acquiring the label information corresponding to the physical label of the mover module, the method further includes: Sending the acquired tag information to the mobile control device, so that the mobile control device binds the tag information to the corresponding mover module based on the position information of the mover module; The storing or acquiring the mover operation information of the mover module based on the tag information includes at least one of the following: Sending the tag information and the mover operation information of the mover module to the mobile control device, so that the mobile control device stores the mover operation information of the mover module; Sending the tag information to the mobile control device so that the mobile control device obtains the mover operation information of the mover module; Based on the tag information, according to the binding relationship between the tag information and the mover module determined by the mobile control device, the mover operation information of the mover module is stored or obtained locally.

17. An information tracing device for a linear motor device, characterized in that: The linear motor device comprises a stator line and a mover module; at least one operating device is distributed around the stator line, the mover module is suitable for moving along the stator line and passing through the operating device, and the mover module is provided with an identifiable physical tag, and the physical tag carries unique and fixed tag information; the information tracing device is connected to the linear motor device, and the information tracing device comprises: A label recognition module, used to obtain label information corresponding to the physical label of the mover module; The information processing module is used to store or obtain the mover operation information of the mover module based on the tag information.

18. The information tracing device according to claim 17, characterized in that: The physical tag includes a visual identification tag and / or an electronic identification tag.

19. The information tracing device according to claim 17, characterized in that: The physical tag includes one or more of a radio frequency identification tag, a near field communication tag, a QR code and a bar code.

20. The information tracing device according to claim 17, characterized in that: The physical tag is located on the surface of the mover module or embedded in the mover module, and the tag identification module is located on the surface of the stator wire or embedded in the stator wire.

21. The information tracing device according to claim 17, characterized in that: An accommodating space is formed between the stator wire and the mover module, the physical label is located on a side of the mover module close to the accommodating space, and the label identification module is located on a side of the stator wire close to the accommodating space and opposite to the physical label.

22. The information tracing device according to any one of claims 17 to 21, characterized in that: The tag identification module is arranged upstream of the first operating device of the mover module path; or, The tag identification module is set corresponding to the starting operation position of the first operating device passed by the moving submodule.

23. The information tracing device according to any one of claims 17 to 21, characterized in that: The tag identification module is deployed upstream of each of the operating devices; or, The tag identification module is deployed correspondingly according to the starting operation position of each of the operating devices.

24. The information tracing device according to any one of claims 17 to 21, characterized in that: The linear motor device also includes a transfer mechanism connected to the stator line body for transferring the mover module; The tag identification module is arranged corresponding to the end of the stator wire body connected to the transfer mechanism; and / or, The tag identification module is deployed accordingly to the transfer mechanism.

25. The information tracing device according to claim 24, characterized in that: The tag identification module is fixedly connected to the transfer mechanism; and / or, The tag identification module is independently arranged relative to the transfer mechanism.

26. The information tracing device according to claim 17, characterized in that: The information processing module is further used to bind the acquired tag information to the corresponding mover module based on the position information of the mover module.

27. A linear motor device, characterized in that: The linear motor device comprises a mobile control device, a stator line body and a mover module; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, and the mover module is provided with an identifiable physical label, and the physical label carries unique and fixed label information; the mobile control device is connected to the upper computer device, and the mobile control device comprises: A label recognition module, used to obtain label information corresponding to the physical label of the mover module; The information processing module is used to store or obtain the mover operation information of the mover module based on the tag information.

28. The linear motor device according to claim 27, characterized in that The information processing module is also used to bind the acquired tag information to the corresponding mover module based on the position information of the mover module; wherein the tag information comes from a tag identification module connected to the mobile control device, or the tag information comes from the host computer device; The information processing module is also used for at least one of the following: Based on the tag information, locally store or obtain the mover operation information of the mover module; The binding relationship between the tag information and the mover module is sent to the host computer device, so that the host computer device stores or obtains the mover operation information of the mover module.

29. The linear motor device according to claim 27, characterized in that The information processing module is also used to send the acquired tag information to the host computer device, so that the host computer device binds the tag information with the corresponding mover module based on the position information of the mover module; The information processing module is also used for at least one of the following: Sending the tag information and the mover operation information of the mover module to the host computer device, so that the host computer device stores the mover operation information of the mover module; Sending the tag information to the host computer device so that the host computer device obtains the mover operation information of the mover module; Based on the tag information, according to the binding relationship between the tag information and the mover module determined by the host computer device, the mover operation information of the mover module is stored or obtained locally.

30. A linear motor device, characterized in that: The linear motor device comprises a host computer device, a mobile control device, a stator line body and a mover module; at least one operating device is distributed around the stator line body, the mover module is suitable for moving along the stator line body and passing through the operating device, and the mover module is provided with an identifiable physical label, and the physical label carries unique and fixed label information; the mobile control device is connected to the host computer device, and the host computer device comprises: A label recognition module, used to obtain label information corresponding to the physical label of the mover module; The information processing module is used to store or obtain the mover operation information of the mover module based on the tag information.

31. The linear motor device according to claim 30, characterized in that The information processing module is also used to bind the acquired tag information to the corresponding mover module based on the position information of the mover module; wherein the tag information comes from a tag identification module connected to the host device, or the tag information comes from the mobile control device; The information processing module is also used for at least one of the following: Based on the tag information, locally store or obtain the mover operation information of the mover module; The binding relationship between the tag information and the mover module is sent to the mobile control device, so that the mobile control device stores or obtains the mover operation information of the mover module.

32. The linear motor device according to claim 30, characterized in that The information processing module is further used to send the acquired tag information to the mobile control device, so that the mobile control device binds the tag information with the corresponding mover module based on the position information of the mover module; The information processing module is also used for at least one of the following: Sending the tag information and the mover operation information of the mover module to the mobile control device, so that the mobile control device stores the mover operation information of the mover module; Sending the tag information to the mobile control device so that the mobile control device obtains the mover operation information of the mover module; Based on the tag information, according to the binding relationship between the tag information and the mover module determined by the mobile control device, the mover operation information of the mover module is stored or obtained locally.

33. An automated production system, characterized in that: include: A linear motor device and an operating device, wherein the linear motor device comprises a stator wire, a mover module and the information tracing device according to any one of claims 17 to 26; the operating device is used to cooperate with the mover module.

34. An electronic device for a linear motor device, characterized in that: include: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the method steps as claimed in any one of claims 1 to 16.

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